---
title: "フィジカルAI研究室を作る Log#28 | 50本で学んだ π0.5 をアームで試し、位置2 で外れた"
slug: pi05-even-demos-on-arm-misses-position-2
date: 2026-11-10
day: 484
meta_description: "位置ごとに10本そろえたお手本50本で学習した Physical Intelligence の π0.5 をmechArm 270 で動かすと、位置1 は3回とも直しなしでつかめたが、位置2 は4回ともつかむ姿勢まで届かなかった。"
tags: [フィジカルAI研究室, π0.5, Physical Intelligence, 実機推論, mechArm 270, Runpod, 模倣学習, ゲームパッド, 関節角, Claude Code]
series: "フィジカルAI研究室"
---

位置ごとに10本そろえたお手本50本で一から学習した Physical Intelligence の [π0.5](https://www.pi.website/blog/pi05)（ロボット用の AI のモデル）を、実物の小型アーム mechArm 270 で動かすと、位置1 のブロックは3回とも人の直しなしでつかめましたが、位置2 では4回ともつかむ姿勢まで届きませんでした。位置2 で π0.5 が向かったのは、位置2 のお手本の姿勢（肩 j1 87.9°・肘 j2 −33.9°）ではなく、位置1 寄りの途中（肩 j1 約68〜72°・肘 j2 約 −7〜−11°）でした。

この回でやったことで、次のことが分かるようになりました。

- 良くなること：π0.5 がつかみに行った姿勢を、お手本50本で爪を閉じた瞬間の姿勢と同じ物差し（関節の角度の差）で比べるスクリプトを作りました。どの位置で、どの関節が、何度ずれたかを、映像の印象ではなく数字で言えます
- もたらされること：位置2 のお手本は、50本の中でただ1つ、肩 j1 が上限の 88° に張り付き、肘 j2 を −34° まで曲げてつかむ形でした。ほかの4か所とは形が大きく違います（いちばん近い位置1 とも、6つの関節の差で 46.5°）。次はこの形の違いが外れの原因かを確かめます
- 時間と費用：Runpod で借りた GPU（NVIDIA A40）は51分・約80円でした（1時間 0.59 ドル・1ドル＝158円）。実機は 11:10〜11:45 に9回動かしました。そのうち約10分は、モデルの取り込みが止まって立ち上げ直した時間です

前の回（LOG480）で学習したモデル deep1 は、浅くつかんだお手本を外し、位置1〜5 を10本ずつにそろえたデータだけで、π0.5 の元の重みから学習したものです。データをそろえた効き目が実機に出るかを、位置ごとに確かめるのがこの回のねらいでした。

**位置1 では π0.5 だけで下りきってつかめたのに、位置2 では毎回、位置1 と位置2 の間の高い所で止まりました。** 位置2 の4回目の途中で、こちらで打ち切りました。

> 2の位置がかなりずれていたので一旦終了

やったことの全体は次のとおりです。

| 時刻 | やったこと | 結果 |
|---|---|---|
| 10:53 | アームを HOME に戻し、上カメラの写り方をお手本に合わせた | dy +1.6・dx −0.1（OK） |
| 10:54〜11:04 | lab_start.sh で A40 を借りて deep1 を立ち上げた | モデルの取り込みで止まり、Ctrl+C で止めた |
| 11:04〜11:10 | 同じ Pod につなぎ直して立ち上げ直した | 取り込み 133秒・uv sync 55秒・サーバーの起動 44秒 |
| 11:10〜11:17 | 1回目（位置5）。最初の推論は 58.1秒 | つかんで運ぶ途中でゲームパッドで直し、成功 |
| 11:23〜11:31 | 位置1 を3回 | 2回成功（直しなし）。1回は箱に入れたあとに直しへ入って結果なし |
| 11:34〜11:44 | 位置2 を4回 | 2回失敗・2回結果なし。4回とも、つかむ前にゲームパッドで直した |
| 11:45 | Pod を消した | 51分・約80円 |
| 11:50〜 | つかむ姿勢をお手本と比べた（grasp_pose_compare.py） | 位置2 の4回は、位置2 のお手本から 33〜36° 離れていた |

【図解】LOG484_grasp_pose_map.html

次は2つです。位置2 で π0.5 の出す関節の角度がどこからずれ始めるかを、お手本10本の動きと1コマずつ比べます。それと並べて、位置3〜5 も同じように動かし、外れるのが位置2 だけかを確かめます。

GPU を買うか借りるかの判断は、Runpod で実際に借りて学習・推論した費用をもとに、別のページにまとめています。

【バナー】gpu-buy-or-rent

この回の作業は、Claude（手順と数字の確かめを一緒に進めた AI）と進めました。アームの操作と、ブロックを置く・ゲームパッドで直す・打ち切るの判断はこちらで行いました。ここから下は、端末の出力・各回の記録・比べたスクリプトとその出力を全量で載せた作業ログです。数字は記録から数えたもので、見込みのものは見込みと書いています。鍵（アクセストークンなど）は、どこにも載せていません。Pod の IP とポートは、記録の時点で `<POD_IP>:<SSH_PORT>` に置き換えてあります。


## 作業ログ ― deep1 を実機で立ち上げ、位置1・位置2 で動かして比べるまで

### この回で使う言葉

| 言葉 | 意味 |
|---|---|
| 実機推論 | 学習したモデルに上カメラの画とアームの関節の角度を渡し、次の動きを答えさせて、その答えで実物のアームを動かすこと |
| チャンク | モデルが1回の推論で返す、この先の動きのまとまり。このシリーズでは10ステップ（約1秒分）。端末の `[003]` のような番号は、何回目の推論かを表す |
| 関節 j0〜j5 | mechArm 270 の6つの関節。j0 は根元の回転、j1 は肩、j2 は肘、j3〜j5 は手首。爪（グリッパー）は別 |
| つかむ姿勢 | 爪を閉じた瞬間の j0〜j5 の角度。お手本では、爪の値が初めて「閉じる」になったコマの角度 |
| 位置1〜5 | お手本でブロックを置いた5か所。学習データは各位置10本ずつ |
| 位置合わせ | 実機推論の前に、上カメラの今の画にお手本の1枚目を半透明で重ね、写り方がずれていないかを確かめる画面（camera_align.py）。重なったブロックに実物を合わせれば、お手本と同じ場所に置ける |
| ゲームパッドの補正 | 推論の途中で `p` を押し、PS4 型のゲームパッドで関節を手で動かして直すこと。□ で推論に戻る |
| 安全範囲 | モデルが出した関節の角度をそのまま送ってよい範囲。お手本の関節の範囲の外側 10° まで。肩 j1 だけは 88° で切る（それを超える指令はアームが黙って捨てるため） |

[Runpod](https://www.runpod.io/) は、GPU を時間単位で借りられるクラウドのサービスです。借りたマシンを Pod と呼び、推論のサーバーはこの Pod の中で動きます。[Hugging Face](https://huggingface.co/) は、AI のモデルとデータを置いて配るサービスです。deep1 は非公開のリポジトリ（PixelstoMotors/pi05-mecharm-deep-even10-lora-v1）にあり、Pod は立ち上げのときにそこから取ってきます。


## 上カメラの位置を出してから、lab_start.sh で deep1 を立ち上げた

上カメラはふだん使いのスマホを付け外ししているので、実機の前に毎回、写り方をお手本に合わせます。アームを HOME に戻し、位置合わせの画面（位置5 のお手本 run_0001_20261019_194818 の1枚目）で OK が出るまでスマホを動かしました。最後の値は dy +1.6・dx −0.1・似ている度合い 0.942 です。

そのあと、立ち上げのスクリプトを1行で動かしました。

```
cd ~/r2r2r-scripts && ./lab_start.sh --model deep1 --log Log28
```

lab_start.sh は、Pod を借りる → スクリプトとモデルを Pod に入れる → 推論のサーバーを起動する → Mac とのトンネルを張る → HOME・爪を開く・位置合わせ → 実機推論、までを順に行います。安全範囲は deep1 の学習に使った50本から、位置合わせの基準は trim2（前のデータ）の画から取る形で、前の回の直し（依頼135・依頼137）のとおりに動いています。

```
[RANGE ] 安全範囲 (学習データ ±10°) は /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes から (--model deep1)
[FRAME ] 写り方の確かめの基準画像は /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes の最初のエピソードから (位置合わせと同じ trim2. 依頼 137)
[SAFE  ] 安全範囲 (学習 50 本 ±10°): j0[-72,+55]  j1[-9,+88]  j2[-45,+52]  j3[-18,+27]  j4[-87,+10]  j5[-51,-15]
```


## モデルの取り込みが約8分止まり、Ctrl+C で止めて立ち上げ直した

1回目の立ち上げは、3c（Hugging Face からモデルを取る）で止まりました。10:56 に始まり、11:04 まで何も出ませんでした。前に別のモデル（corr2、ほぼ同じ大きさ）を取ったときは32秒で終わっています（研究室 Log22 の立ち上げの記録）。

Ctrl+C で止めて、同じ1行で立ち上げ直しました。lab_start.sh は、記録にある Pod が動いていれば、新しく借りずにその Pod へつなぎ直します。二度目の 3c では、次のように出ました。

```
Fetching 34 files:   0%|          | 0/34 [00:00<?, ?it/s]Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 10.0 seconds)
...
Fetching 34 files: 100%|██████████| 34/34 [02:10<00:00,  3.82s/it]
✓ Downloaded
```

二度目の取り込みは、ファイルの鍵（lock）が空くのを120秒待ってから終わりました。Mac で Ctrl+C を押しても、Pod の中の1回目の取り込みは止まらずに続いていて、それが終わるのを待っていたと読めます。1回目がなぜ遅かったのかは、出力が出ていないので分かっていません。

- ねらい：Pod を借り直さずに、止まった所から続ける
- 変わったこと：Pod の中を確かめ、モデル・openpi・.venv のないものだけを入れ直した。サーバーの起動まで 6分（3a 76秒・3c 133秒・uv sync 55秒・サーバーの起動 44秒ほか）
- 見込める効果：借り直していれば、Pod の立ち上げと 3a からやり直しになる。つなぎ直しで済んだので、止まっていた時間の分だけで済んだ。3c で止まったときの見分け方（Pod の中で取り込みが続いているか）は、まだ lab_start.sh にない


## 最初の推論は 58.1秒かかり、2回目からは約0.6秒だった

サーバーが動き、位置合わせで OK を見て閉じると、最初の推論が返ってくるまで 58.1秒かかりました。最初の1回だけ、Pod の中でモデルの計算を組み立てる（コンパイルする）ためです。2回目からは 0.55〜1.77秒で返っています。

```
[000] 推論 58134ms  10ステップ先  Δ= +2.3 +14.1  +7.4  -1.7 -19.5  +1.8
```

1回目は、位置合わせの画面のお手本（位置5）のままブロックを置いて動かしました。π0.5 はつかみ（推論5〜6）、箱へ運ぶ途中（推論14 のあと）で、ゲームパッドで83秒直してから箱に入れました。結果は成功です。


## 位置ごとのお手本を、別の窓で重ねてブロックを置いた

立ち上げのスクリプトが開く位置合わせの画面は、いつも位置5 のお手本を重ねます。ほかの位置に置くときの目安になりません。そこで、もう1つの端末のタブで、置く位置のお手本を重ねる位置合わせを開き、そこにブロックを合わせてから、lab_start の画面を閉じる手順にしました。

```
cd ~/r2r2r-scripts
D=/Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes
python3 pi05/camera_align.py --raw-dir $D --episode run_0001_20261109_094839 --scale 5 --alpha 0.7
```

| 位置 | 重ねたお手本（2026-11-09 に撮った深いお手本） |
|---|---|
| 1 | run_0001_20261109_094839 |
| 2 | run_0001_20261109_102109 |
| 3 | run_0001_20261109_123848 |
| 4 | run_0001_20261109_130542 |
| 5 | run_0001_20261019_194818（lab_start の画面と同じ） |

位置3・4 は 11月9日に教え直したので、10月のお手本とはブロックの場所が少し違います。lab_start.sh の `--episode` で選べるのは10月の trim2 の画だけなので、11月9日の画を重ねるには別の窓が要りました。

この手順は、窓が2つ開くので分かりにくく、途中で lab_start 側の窓が後ろに隠れて、推論が始まらないように見える場面がありました（その窓で q を押すか、端末で Ctrl+C を押すと進みます）。lab_start.sh が位置の番号を聞き、その位置の11月9日のお手本を重ねる形にする直しを、次に Claude Code に頼む予定です。

2回目（111726）は、ブロックを位置1 に置き直すため、最初の推論の答えを送らずに q で終えました。


## 位置1 は3回とも π0.5 が自分で下りきってつかんだ

位置1 の3回は、どれもつかむまで直しなしでした。爪を閉じた姿勢は、位置1 のお手本10本の平均（j0 −40.7°・j1 +80.6°・j2 +0.2°）から 1.2〜3.9° の所です。

| 回 | 結果 | 直し | 爪を閉じた姿勢 j0〜j5 | お手本の平均との差 |
|---|---|---|---|---|
| 112346 | 成功 | なし | −40.5 +80.8 +0.0 +1.4 −76.5 −29.9 | 1.2° |
| 112639 | 結果なし | 箱に入れたあと | −40.6 +82.6 −2.3 +2.0 −76.7 −30.1 | 3.7° |
| 112924 | 成功 | なし | −40.7 +78.6 +3.3 +1.1 −76.7 −29.8 | 3.9° |

112639 は、π0.5 がつかんで箱に入れ（推論10〜11 で爪を開いた）、HOME へ戻る途中（推論13 のあと）にゲームパッドへ入り、Ctrl+C で終えたので、結果が付いていません。つかんで箱に入れるところまでは、ほかの2回と同じ流れでした。

1回の推論から次の推論までは、Enter で1回ずつ送っています。112346 は推論18回、112924 は推論17回で、HOME 近くへ戻りました。


## 位置2 は4回とも、つかむ姿勢まで届かなかった

位置2 では、4回とも、推論3〜4 のあとでブロックの真上からずれているのが見え、ゲームパッドで直しました。直す前に π0.5 がいた姿勢を、お手本と比べました。

| 回 | 結果 | 直した時間 | π0.5 がいた姿勢 j0・j1・j2 | 位置2 の平均との差 | 位置1 の平均との差 |
|---|---|---|---|---|---|
| 113433 | 結果なし | 12.8秒 | −37.7・+72.8・−9.8 | 32.9° | 19.4° |
| 113600 | 失敗 | 14.1秒 | −38.7・+68.5・−8.1 | 35.5° | 22.1° |
| 113741 | 失敗 | 88.5秒 | −39.6・+68.5・−7.0 | 36.1° | 21.9° |
| 114106 | 結果なし | 91.8秒 | −36.6・+68.1・−8.4 | 34.8° | 23.6° |
| 位置2 のお手本10本の平均 | | | −34.9・+87.9・−33.9 | 0 | 46.5° |

差は、6つの関節の角度の差を二乗して足し、平方根を取ったものです（単位は度）。4回とも、位置2 のお手本より位置1 のお手本に近い所にいました。

113433 は、推論4 の答えを送らずにゲームパッドへ入りました。その答えは、肩 j1 78.6°・肘 j2 −18.0°・根元 j0 −37.6° まで下ろして、爪を閉じるものでした。位置2 のお手本は j1 87.9°・j2 −33.9°・j0 −34.9° です。

- 肩 j1 は約9°浅い
- 肘 j2 は約16°曲げが足りない
- 根元 j0 は約3°位置1 の側へ回っている

この答えのまま閉じていれば、ブロックの手前の高い所で爪を閉じていたはずです（送っていないので確かめてはいません）。

ゲームパッドで直したあとに推論へ戻った回では、113741 で、肩 j1 の指令が安全範囲の上限 88° で切られました。

```
       [LIMIT] j1 安全範囲でクランプ +89.9→+88.0
       [LIMIT] step 2: j1 安全範囲でクランプ +89.4→+88.0
       [LIMIT] step 5: j1 安全範囲でクランプ +89.9→+88.0
```

直して位置2 に近づくと、π0.5 は肩を上限より先へ下ろそうとしています。

位置1 の1回と位置2 の4回で、推論ごとの答え（10ステップ先の目標）を並べると、位置1 と位置2 の違いは推論2〜4 で出ていました。

| 回 | 推論2 の答え j0・j1・j2 | 推論3 の答え j0・j1・j2 | 推論4 の答え j0・j1・j2・爪 |
|---|---|---|---|
| 112924（位置1） | −40.2・+64.9・+3.6 | −40.7・+70.7・+3.0 | −40.6・+77.3・+2.1・閉じる |
| 113433（位置2） | −37.6・+69.5・−10.0 | −37.8・+71.7・−11.3 | −37.6・+78.6・−18.0・閉じる |
| 113600（位置2） | −38.9・+67.7・−9.6 | −39.6・+72.4・−11.4 | （直しへ） |
| 113741（位置2） | −39.4・+67.6・−8.8 | −39.5・+70.6・−9.9 | （直しへ） |
| 114106（位置2） | −36.7・+67.1・−10.1 | −37.4・+73.3・−13.7 | （直しへ） |

位置2 でも、π0.5 は肘 j2 をマイナスへ曲げ始めていて、位置1 とは違う動きを出しています。ただ、曲げ方が小さく、肩も下りきらないうちに爪を閉じようとしました。


## 位置2 のお手本は、肩が上限 88° に張り付く唯一の形だった

比べてみて目立ったのは、位置2 のお手本の形です。

| 位置 | つかむ姿勢の平均 j0・j1・j2 | 肩 j1 の範囲（10本） | 肘 j2 の範囲（10本） |
|---|---|---|---|
| 1 | −40.7・+80.6・+0.2 | +80.5〜+80.6 | +0.1〜+0.4 |
| 2 | −34.9・+87.9・−33.9 | +87.9〜+87.9 | −34.0〜−33.8 |
| 3 | −25.9・+68.1・+10.1 | +63.7〜+69.4 | +9.1〜+14.1 |
| 4 | −60.4・+62.5・+12.3 | +62.3〜+62.7 | +9.9〜+14.8 |
| 5 | +13.4・+60.7・+20.0 | +60.0〜+61.6 | +18.5〜+22.1 |

位置2 の10本は、どれも肩 j1 が 87.9° で、上限の 88° に張り付いています。肘 j2 がマイナス（−34°）なのも位置2 だけです。肩をこれ以上下ろせないので、肘を逆向きに曲げて爪をブロックへ届かせている形です。ほかの4か所のつかむ姿勢は、肩 60〜81°・肘 0〜+20° の間にまとまっています。

**位置2 は、肩が上限に張り付いて肘を逆に曲げる、50本の中で1か所だけの形でした。π0.5 は、その形まで出しきれず、ほかの位置に近い形との間の答えを出しています。** これが外れの原因かは、まだ確かめていません。考えている見立ては次の3つです。

| 見立て | 確かめ方 |
|---|---|
| 位置2 の形が、ほかの4か所と離れすぎていて、学習で出しきれていない | 位置2 のお手本10本を、推論の答えと1コマずつ比べる（オフラインの答え合わせ）。お手本の画を渡しても位置2 の形が出ないなら、学習の側 |
| 置いたブロックが、お手本の位置2 と少しずれていて、画が位置1 に寄って見えている | 4回の1枚目の画と、お手本の1枚目の画で、ブロックの場所を画素で比べる |
| 肩の上限 88° の近くは、学習の正規化で端になり、出しにくい | 学習データの j1 の分布と正規化の値を見る |

位置1 は3回とも下りきり、位置5 の1回もつかむところまでは直しなしだったので、データをそろえた deep1 が、少なくともこの2か所ではつかめることは言えます。位置3・4 はまだ動かしていません。


## Pod を消し、51分・約80円だった

```
./lab_stop.sh --log Log28
```

lab_stop.sh は、Pod の中の serve.log を持ち帰ってから Pod を消し、API で消えたことを確かめます。借りていた時間は 10:54:21〜11:45:35 の 51分14秒、費用は約0.50 ドル（約80円）でした。

| 項目 | 値 |
|---|---|
| GPU | NVIDIA A40（46,068 MiB） |
| 借りていた時間 | 51分14秒（0.85時間） |
| 費用 | 約0.50 ドル（約80円・1時間 0.59 ドル・1ドル＝158円） |
| そのうち立ち上げ | 1回目 約10分（3c で止めた）・2回目 約6分・3回目 1分35秒（サーバーが動いていたので準備を飛ばした） |
| 実機を動かした回 | 9回（成功3・失敗2・結果なし4） |
| 推論の時間（2回目から） | 0.55〜1.77秒 |


## 位置2 で π0.5 がいた姿勢を、お手本のつかむ姿勢と比べたスクリプト

比べたスクリプトは KIOXIA の lab/Log28/analysis/ に置きました。お手本50本の episode.npz と、各回の recording/states.csv・log.jsonl を読むだけで、元のデータは変えません。

### grasp_pose_compare.py（KIOXIA の lab/Log28/analysis/）

```python
#!/usr/bin/env python3
"""LOG484 / 研究室 Log28: deep1 の実機推論で、アームがどこをつかみに行ったかを、お手本の位置ごとのつかむ姿勢と比べる.

- お手本: mecharm_redblock_box_deep_even10_v1 の 50 本. 位置は pi05/count_by_position.py の出力 (2026-11-10) のとおり.
  つかむ姿勢 = state の爪 (7 列目) が初めて 1 になったコマの j0〜j5.
- 実機推論: runs/pi05_policy/pi05_20261110_*/.
  爪を閉じた姿勢 = recording/states.csv で, 初めて gripper_cmd が 1 (閉じる) になった直前の actual の j0〜j5.
  AI が行った所 = 閉じる前にゲームパッドの補正があれば, その補正の最初の measured_before (人が直す前の姿勢).
  なければ, 爪を閉じた姿勢と同じ.
- 近い位置 = AI が行った所と, 位置ごとのつかむ姿勢の平均との距離 (j0〜j5 の差の二乗和の平方根) がいちばん小さい位置.
使い方: python3 grasp_pose_compare.py [--data-root /Volumes/KIOXIA/r2r2r-data]
"""
import argparse, csv, json, math
from pathlib import Path
import numpy as np

POS = {
 1: "094839 095308 095810 095948 100126 100307 100444 100716 101157 103049",
 2: "191257 191541 191635 102109 102248 102431 103804 103943 104110 104517",
 3: "192438 192539 123848 124032 124117 124207 124256 124438 124817 124920",
 4: "193404 193459 193617 193825 193932 130542 130723 130824 130929 131103",
 5: "pi05_20261031_175527 pi05_20261031_180435 pi05_20261031_184016 pi05_20261101_190347 pi05_20261106_183926 pi05_20261106_184650 194818 194913 195023 195120",
}
DAY = {"1910": "20261019", "1930": "20261019", "1940": "20261019", "1950": "20261019"}
# 2026-11-10 の実機推論. 位置はエイイチの答え (チャット) とスクリプトの出力から. 111034 は位置合わせの前の 1 回目
RUNS = [("111034", "1回目(位置なし)"), ("112346", "位置1"), ("112639", "位置1"), ("112924", "位置1"),
        ("113433", "位置2"), ("113600", "位置2"), ("113741", "位置2"), ("114106", "位置2")]


def ep_name(s):
    if s.startswith("pi05_"):
        return s
    day = "20261019" if s[:2] == "19" else "20261109"
    return f"run_0001_{day}_{s}"


def demo_grasp(root):
    out = {}
    for p, names in POS.items():
        poses = []
        for s in names.split():
            z = np.load(root / "datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes" / ep_name(s) / "episode.npz")
            st = z["state"]
            i = int(np.argmax(st[:, 6] > 0.5))
            poses.append(st[i, :6])
        out[p] = np.array(poses)
    return out


def run_poses(rd):
    rows = list(csv.DictReader(open(rd / "recording/states.csv")))
    last = None
    close = None
    close_t = None
    for r in rows:
        if r["event_type"] == "actual" and r["j0"]:
            last = [float(r[f"j{k}"]) for k in range(6)]
        if r["event_type"] == "gripper_cmd" and r["gripper_state"] == "1" and close is None:
            close, close_t = last, float(r["ts"])
    pad = None
    for line in open(rd / "log.jsonl"):
        d = json.loads(line)
        if d.get("type") == "pad" and d.get("measured_before"):
            if close_t is None or d["t_unix"] < close_t:
                pad = d["measured_before"]
            break
    meta = json.load(open(rd / f"{rd.name}.json"))
    return close, pad, meta


def main():
    ap = argparse.ArgumentParser()
    ap.add_argument("--data-root", default="/Volumes/KIOXIA/r2r2r-data")
    a = ap.parse_args()
    root = Path(a.data_root)
    g = demo_grasp(root)
    mean = {p: v.mean(0) for p, v in g.items()}
    print("お手本 50 本の, 位置ごとのつかむ姿勢 (平均 / 最小〜最大)")
    print("位置 | " + " | ".join(f"j{k}" for k in range(6)))
    for p, v in g.items():
        print(f"{p} | " + " | ".join(f"{v[:, k].mean():+.1f} ({v[:, k].min():+.1f}〜{v[:, k].max():+.1f})" for k in range(6)))
    print()
    print("位置どうしの, つかむ姿勢の平均の距離 (度)")
    for p in mean:
        print(f"{p} | " + " | ".join(f"{np.linalg.norm(mean[p] - mean[q]):.1f}" for q in mean))
    print()
    print("2026-11-10 の実機推論 (deep1)")
    print("run | 置いた所 | 結果 | 補正 | AI が行った所 j0〜j5 | 近い位置 (距離) | 位置ごとの距離 1〜5 | 爪を閉じた姿勢 j0〜j5")
    for stem, label in RUNS:
        rd = root / "runs/pi05_policy" / f"pi05_20261110_{stem}"
        close, pad, meta = run_poses(rd)
        went = pad if pad is not None else close
        corr = meta.get("corrections", 0)
        res = meta.get("outcome") or meta.get("result")
        if went is None:
            print(f"{stem} | {label} | {res} | {corr} | 爪を閉じる前に終えた | - | - | -")
            continue
        dist = {p: float(np.linalg.norm(np.array(went) - mean[p])) for p in mean}
        near = min(dist, key=dist.get)
        cl = " ".join(f"{x:+.1f}" for x in close) if close else "閉じていない"
        print(f"{stem} | {label} | {res} | {corr} | " + " ".join(f"{x:+.1f}" for x in went)
              + f" | {near} ({dist[near]:.1f}) | " + " ".join(f"{dist[p]:.1f}" for p in mean) + f" | {cl}"
              + (" | 補正の前" if pad is not None else ""))


if __name__ == "__main__":
    main()
```

### grasp_pose_compare.py の出力（grasp_pose_compare_out.txt）

```
お手本 50 本の, 位置ごとのつかむ姿勢 (平均 / 最小〜最大)
位置 | j0 | j1 | j2 | j3 | j4 | j5
1 | -40.7 (-41.0〜-40.4) | +80.6 (+80.5〜+80.6) | +0.2 (+0.1〜+0.4) | +0.8 (+0.6〜+1.0) | -75.6 (-75.7〜-75.5) | -29.9 (-30.0〜-29.5)
2 | -34.9 (-35.7〜-34.7) | +87.9 (+87.9〜+87.9) | -33.9 (-34.0〜-33.8) | +6.7 (+6.4〜+7.1) | -46.3 (-46.5〜-45.9) | -34.5 (-34.6〜-34.3)
3 | -25.9 (-27.8〜-25.3) | +68.1 (+63.7〜+69.4) | +10.1 (+9.1〜+14.1) | -2.4 (-7.7〜-1.0) | -65.8 (-67.8〜-61.4) | -29.3 (-30.0〜-27.3)
4 | -60.4 (-61.7〜-59.2) | +62.5 (+62.3〜+62.7) | +12.3 (+9.9〜+14.8) | +0.6 (-0.3〜+1.5) | -57.7 (-60.8〜-55.2) | -31.0 (-32.4〜-29.9)
5 | +13.4 (+12.6〜+14.7) | +60.7 (+60.0〜+61.6) | +20.0 (+18.5〜+22.1) | -2.9 (-3.6〜-2.1) | -63.3 (-65.3〜-61.5) | -27.0 (-27.6〜-26.5)

位置どうしの, つかむ姿勢の平均の距離 (度)
1 | 0.0 | 46.5 | 24.0 | 34.4 | 62.3
2 | 46.5 | 0.0 | 53.8 | 60.1 | 80.1
3 | 24.0 | 53.8 | 0.0 | 36.1 | 41.3
4 | 34.4 | 60.1 | 36.1 | 0.0 | 74.6
5 | 62.3 | 80.1 | 41.3 | 74.6 | 0.0

2026-11-10 の実機推論 (deep1)
run | 置いた所 | 結果 | 補正 | AI が行った所 j0〜j5 | 近い位置 (距離) | 位置ごとの距離 1〜5 | 爪を閉じた姿勢 j0〜j5
111034 | 1回目(位置なし) | success | 1 | +14.7 +62.3 +19.6 -2.2 -66.2 -27.4 | 5 (3.7) | 62.3 80.6 42.1 76.0 3.7 | +14.7 +62.3 +19.6 -2.2 -66.2 -27.4
112346 | 位置1 | success | 0 | -40.5 +80.8 +0.0 +1.4 -76.5 -29.9 | 1 (1.2) | 1.2 46.8 24.6 35.2 62.5 | -40.5 +80.8 +0.0 +1.4 -76.5 -29.9
112639 | 位置1 | interrupted | 1 | -40.6 +82.6 -2.3 +2.0 -76.7 -30.1 | 1 (3.7) | 3.7 45.0 26.8 37.0 64.0 | -40.6 +82.6 -2.3 +2.0 -76.7 -30.1
112924 | 位置1 | success | 0 | -40.7 +78.6 +3.3 +1.1 -76.7 -29.8 | 1 (3.9) | 3.9 49.8 22.4 33.0 61.0 | -40.7 +78.6 +3.3 +1.1 -76.7 -29.8
113433 | 位置2 | interrupted | 1 | -37.7 +72.8 -9.8 +6.3 -62.6 -32.5 | 1 (19.4) | 19.4 32.9 25.5 34.2 61.3 | 閉じていない | 補正の前
113600 | 位置2 | failure | 1 | -38.7 +68.5 -8.1 +6.7 -60.4 -32.1 | 1 (22.1) | 22.1 35.5 24.7 31.1 60.7 | -33.5 +79.9 -12.1 +6.2 -62.8 -32.3 | 補正の前
113741 | 位置2 | failure | 1 | -39.6 +68.5 -7.0 +5.9 -59.7 -31.8 | 1 (21.9) | 21.9 36.1 24.3 29.6 60.9 | -33.8 +88.8 -26.9 +5.5 -58.9 -32.0 | 補正の前
114106 | 位置2 | completed | 1 | -36.6 +68.1 -8.4 +6.7 -59.1 -32.1 | 1 (23.6) | 23.6 34.8 24.3 32.6 59.1 | -33.0 +85.2 -22.0 +6.6 -59.1 -32.2 | 補正の前
```


## 記録の全量 ― 端末の出力・各回の記録・Pod の記録

端末の出力は、lab_start.sh が KIOXIA の lab/Log28/ に残したものです。Python のゲームパッドの部品（pygame）と画像の部品（OpenCV）が同じ SDL を読むために出る `objc[…] Class … is implemented in both …` の警告も、そのまま載せています。各回の記録は、KIOXIA の runs/pi05_policy/pi05_20261110_*/ にあります（上カメラの録画 top.mp4・関節の実測 states.csv・電流 currents.csv・推論ごとの答え log.jsonl）。

### 立ち上げ前の HOME と位置合わせ（端末の出力）

```
(base) shimazueiichi@shimadzueiichinoMacBook-Pro ~ % cd ~/r2r2r-scripts
python3 dynamic_tracking_limits/place/place_modules/08_home_from_anywhere.py
python3 pi05/camera_align.py --raw-dir /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes --episode run_0001_20261019_194818 --scale 5 --alpha 0.7
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [0.08, 92.37, 2.37, -6.06, -97.11, -30.32]
[SEND] HOME へ移動指令
[WAIT] t=0.5s  max_err=82.88°
[WAIT] t=1.1s  max_err=67.06°
[WAIT] t=1.6s  max_err=51.41°
[WAIT] t=2.1s  max_err=36.38°
[WAIT] t=2.6s  max_err=21.35°
[WAIT] t=3.2s  max_err=6.41°
[WAIT] t=3.7s  max_err=1.23°
[DONE] HOME 到達 max_err=1.23°
[POST] 最終姿勢: [0.17, 1.23, 1.23, -0.52, 1.23, -30.32]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy=  -2.5  dx=  -2.4  response=0.981  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  -0.5  dx=  +5.3  response=0.882  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +0.6  dx=  +4.3  response=0.819  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +2.3  dx=  -0.8  response=0.928  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +4.9  dx=  -1.4  response=0.877  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +9.0  dx=  +0.2  response=0.938  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= +12.0  dx=  +0.4  response=0.904  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy= +10.9  dx=  -0.5  response=0.953  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +5.7  dx=  +0.3  response=0.984  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[ALIGN ] dy=  +1.6  dx=  -0.1  response=0.942  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
```

### 1回目の立ち上げ（lab_start_20261110_105418.txt）

```
[RANGE ] 安全範囲 (学習データ ±10°) は /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes から (--model deep1)
[FRAME ] 写り方の確かめの基準画像は /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes の最初のエピソードから (位置合わせと同じ trim2. 依頼 137)
[LAB   ] 2026-11-10 10:54:18  GPU=NVIDIA A40  episode=run_0001_20261019_194818  log=/Volumes/KIOXIA/r2r2r-data/lab/Log28  
[MODEL ] --model deep1: π0.5 base から deep_even10_v1 で新しく学習した 2999 (依頼 133. decay_steps 5000)
         PixelstoMotors/pi05-mecharm-deep-even10-lora-v1 → /workspace/ckpt/deep_v1_2999  設定 pi05_mecharm_deep_even10_lora  assets local/mecharm_redblock_box_deep_even10_v1

=== 1. Pod を作る
[POD   ] 作った: id prm86xv997s945  GPU=NVIDIA A40  1時間 0.59 ドル  (記録 /Volumes/KIOXIA/r2r2r-data/lab/Log28/pod/lab_pod.json)
    (3 秒)

=== 2. Pod が立ち上がるまで待つ
[POD   ] SSH の IP とポートを API から受け取った (<POD_IP>:<SSH_PORT>)
[POD   ] 入れた: 291dbe7c1015
NVIDIA A40, 46068 MiB
    (17 秒)

=== 3a. スクリプトを送る
    (75 秒)

=== 3b. huggingface_hub を入れ, 鍵を渡す
WARNING: Running pip as the 'root' user can result in broken permissions and conflicting behaviour with the system package manager, possibly rendering your system unusable. It is recommended to use a virtual environment instead: https://pip.pypa.io/warnings/venv. Use the --root-user-action option if you know what you are doing and want to suppress this warning.
Hint: The `hf-cli` skill is not installed. Run `hf skills add -g` to teach your AI agents how to use the `hf` CLI.
✓ Logged in
  user: PixelstoMotors
    (11 秒)

=== 3c. モデルを取る (hf download PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
^C
[STOP  ] 「3c. モデルを取る (hf download PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)」で止まりました: Ctrl-C で止めました
[STOP  ] Pod は残っています (id prm86xv997s945). 消すなら ./lab_stop.sh --log Log28

=== かかった時間  モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
  1. Pod を作る                      3 秒
  2. Pod が立ち上がるまで待つ     17 秒
  3a. スクリプトを送る         75 秒
  3b. huggingface_hub を入れ, 鍵を渡す     11 秒
```

### 2回目の立ち上げと実機推論 2回（lab_start_20261110_110430.txt）

```
[RANGE ] 安全範囲 (学習データ ±10°) は /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes から (--model deep1)
[FRAME ] 写り方の確かめの基準画像は /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes の最初のエピソードから (位置合わせと同じ trim2. 依頼 137)
[LAB   ] 2026-11-10 11:04:31  GPU=NVIDIA A40  episode=run_0001_20261019_194818  log=/Volumes/KIOXIA/r2r2r-data/lab/Log28  
[MODEL ] --model deep1: π0.5 base から deep_even10_v1 で新しく学習した 2999 (依頼 133. decay_steps 5000)
         PixelstoMotors/pi05-mecharm-deep-even10-lora-v1 → /workspace/ckpt/deep_v1_2999  設定 pi05_mecharm_deep_even10_lora  assets local/mecharm_redblock_box_deep_even10_v1

=== 1. Pod を作る
[POD   ] Log28 の Pod (id prm86xv997s945) につなぎ直します (状態 RUNNING  GPU=NVIDIA A40  1時間 0.59 ドル  作った時刻 2026-11-10 10:54:21)
[POD   ] 記録の最後のモデル: deep1  今回: --model deep1
    (2 秒)

=== 2. Pod が立ち上がるまで待つ
[POD   ] SSH の IP とポートを API から取り直した (<POD_IP>:<SSH_PORT>)
[POD   ] 入れた: 291dbe7c1015
NVIDIA A40, 46068 MiB
    (5 秒)

=== 3. Pod の中を確かめる (つなぎ直し)
[POD   ] serve_policy.py のプロセス: ない  8000 番の LISTEN: ない
[POD   ] モデル (/workspace/ckpt/deep_v1_2999): ない  openpi (215abfb): ない  .venv: ない
[POD   ] サーバーが動いていません. ないものだけやり直してサーバーを起動します
scp: /workspace/logs/serve.log: No such file or directory

[LOG   ] 前の serve.log は持ち帰れなかった (ないのかもしれない). 続けます
    (6 秒)

=== 3a. スクリプトを送る
    (76 秒)

=== 3b. huggingface_hub を入れ, 鍵を渡す
WARNING: Running pip as the 'root' user can result in broken permissions and conflicting behaviour with the system package manager, possibly rendering your system unusable. It is recommended to use a virtual environment instead: https://pip.pypa.io/warnings/venv. Use the --root-user-action option if you know what you are doing and want to suppress this warning.
✓ Logged in
  user: PixelstoMotors
    (9 秒)

=== 3c. モデルを取る (hf download PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)

Fetching 34 files:   0%|          | 0/34 [00:00<?, ?it/s]Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 10.0 seconds)
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Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 40.1 seconds)
Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 50.1 seconds)
Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 60.2 seconds)
Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 70.2 seconds)
Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 80.2 seconds)
Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 90.2 seconds)
Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 100.3 seconds)
Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 110.3 seconds)
Still waiting to acquire lock on /workspace/ckpt/deep_v1_2999/.cache/huggingface/download/params/ocdbt.process_0/d/4540a892ee6f3e107c5e7c3ea55c1583.lock (elapsed: 120.3 seconds)

Fetching 34 files: 100%|██████████| 34/34 [02:10<00:00,  3.82s/it]
Fetching 34 files: 100%|██████████| 34/34 [02:10<00:00,  3.82s/it]
✓ Downloaded
  path: /workspace/ckpt/deep_v1_2999
6.0G	/workspace/ckpt/deep_v1_2999
    (133 秒)

=== 3d. openpi を取る (215abfb)
215abfb docs(droid): fix config search instruction (#1023)
    (14 秒)

=== 3e. uv sync
downloading uv 0.13.7 x86_64-unknown-linux-gnu
WARN: The following commands are shadowed by other commands in your PATH: uv uvx
Using CPython 3.11.13 interpreter at: /usr/bin/python3.11
Creating virtual environment at: .venv
Resolved 279 packages in 3ms
   Building openpi @ file:///workspace/openpi
   Building openpi-client @ file:///workspace/openpi/packages/openpi-client
   Updating https://github.com/huggingface/lerobot (0cf864870cf29f4738d3ade893e6fd13fbd7cdb5)
Downloading opencv-python (60.1MiB)
Downloading virtualenv (5.8MiB)
Downloading sympy (6.0MiB)
Downloading numba (3.7MiB)
Downloading hf-transfer (3.4MiB)
Downloading nvidia-cuda-nvrtc-cu12 (22.6MiB)
Downloading lxml (4.7MiB)
Downloading numpy (17.4MiB)
Downloading pillow (4.4MiB)
Downloading mujoco (4.4MiB)
Downloading hf-xet (4.9MiB)
Downloading nvidia-cufft-cu12 (190.9MiB)
Downloading fonttools (4.7MiB)
Downloading llvmlite (40.4MiB)
Downloading triton (148.5MiB)
Downloading nvidia-cublas-cu12 (374.9MiB)
Downloading nvidia-cuda-cupti-cu12 (8.5MiB)
Downloading nvidia-cusolver-cu12 (150.9MiB)
Downloading nvidia-cuda-nvcc-cu12 (38.7MiB)
Downloading diffusers (3.4MiB)
Downloading opencv-python-headless (47.7MiB)
Downloading labmaze (4.7MiB)
Downloading h5py (4.3MiB)
Downloading nvidia-cudnn-cu12 (544.5MiB)
Downloading nvidia-nccl-cu12 (192.0MiB)
Downloading torchvision (7.1MiB)
Downloading wandb (20.4MiB)
Downloading polars (34.6MiB)
Downloading imageio-ffmpeg (28.1MiB)
Downloading scipy (35.9MiB)
Downloading jaxlib (100.2MiB)
Downloading matplotlib (8.2MiB)
Downloading nvidia-cusparse-cu12 (206.5MiB)
Downloading tensorstore (17.5MiB)
Downloading transformers (10.3MiB)
Downloading numcodecs (8.4MiB)
Downloading nvidia-nvjitlink-cu12 (18.8MiB)
Downloading nvidia-cusparselt-cu12 (149.5MiB)
Downloading ruff (11.0MiB)
Downloading pyarrow (40.3MiB)
Downloading pandas (12.5MiB)
Downloading pyopengl (3.0MiB)
Downloading jax-cuda12-plugin (15.9MiB)
Downloading rerun-sdk (68.1MiB)
Downloading cmake (26.6MiB)
Downloading jax-cuda12-pjrt (99.8MiB)
Downloading av (34.7MiB)
Downloading nvidia-curand-cu12 (53.7MiB)
Downloading dm-control (37.5MiB)
Downloading torch (783.1MiB)
 Downloaded pyopengl
Downloading debugpy (3.0MiB)
 Downloaded diffusers
 Downloaded hf-transfer
Downloading tokenizers (2.9MiB)
Downloading jax (2.3MiB)
 Downloaded numba
Downloading widgetsnbextension (2.1MiB)
 Downloaded mujoco
 Downloaded h5py
Downloading ml-dtypes (2.1MiB)
Downloading networkx (1.9MiB)
 Downloaded pillow
Downloading pydantic-core (1.9MiB)
 Downloaded labmaze
 Downloaded fonttools
Downloading aiohttp (1.6MiB)
Downloading jedi (1.5MiB)
 Downloaded hf-xet
Downloading kiwisolver (1.4MiB)
 Downloaded lxml
Downloading torchcodec (1.3MiB)
 Downloaded virtualenv
 Downloaded widgetsnbextension
Downloading sentencepiece (1.2MiB)
 Downloaded jax
Downloading pygments (1.2MiB)
Downloading setuptools (1.1MiB)
 Downloaded sympy
Downloading nvidia-cufile-cu12 (1.1MiB)
 Downloaded kiwisolver
Downloading pymunk (1.0MiB)
 Downloaded debugpy
 Downloaded torchcodec
 Downloaded networkx
 Downloaded tokenizers
 Downloaded aiohttp
 Downloaded pydantic-core
 Downloaded ml-dtypes
 Downloaded jedi
 Downloaded torchvision
 Downloaded pygments
 Downloaded sentencepiece
 Downloaded setuptools
 Downloaded pymunk
 Downloaded nvidia-cufile-cu12
 Downloaded matplotlib
   Building evdev==1.9.2
 Downloaded numcodecs
 Downloaded nvidia-cuda-cupti-cu12
   Building antlr4-python3-runtime==4.9.3
 Downloaded transformers
 Downloaded ruff
 Downloaded pandas
 Downloaded jax-cuda12-plugin
      Built openpi-client @ file:///workspace/openpi/packages/openpi-client
      Built openpi @ file:///workspace/openpi
 Downloaded numpy
 Downloaded tensorstore
 Downloaded nvidia-nvjitlink-cu12
      Built antlr4-python3-runtime==4.9.3
 Downloaded wandb
 Downloaded nvidia-cuda-nvrtc-cu12
 Downloaded cmake
 Downloaded imageio-ffmpeg
 Downloaded polars
 Downloaded av
      Built evdev==1.9.2
 Downloaded scipy
 Downloaded dm-control
 Downloaded nvidia-cuda-nvcc-cu12
 Downloaded llvmlite
 Downloaded pyarrow
 Downloaded opencv-python-headless
 Downloaded nvidia-curand-cu12
 Downloaded opencv-python
 Downloaded rerun-sdk
 Downloaded jax-cuda12-pjrt
 Downloaded jaxlib
 Downloaded triton
 Downloaded nvidia-cusparselt-cu12
 Downloaded nvidia-cusolver-cu12
 Downloaded nvidia-cufft-cu12
 Downloaded nvidia-nccl-cu12
 Downloaded nvidia-cusparse-cu12
 Downloaded nvidia-cublas-cu12
 Downloaded nvidia-cudnn-cu12
 Downloaded torch
    Updated https://github.com/huggingface/lerobot (0cf864870cf29f4738d3ade893e6fd13fbd7cdb5)
   Building lerobot @ git+https://github.com/huggingface/lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5
      Built lerobot @ git+https://github.com/huggingface/lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5
Prepared 240 packages in 48.99s
Installed 240 packages in 1.52s
 + absl-py==2.3.0
 + aiohappyeyeballs==2.6.1
 + aiohttp==3.12.4
 + aiosignal==1.3.2
 + annotated-types==0.7.0
 + antlr4-python3-runtime==4.9.3
 + asttokens==3.0.0
 + attrs==25.3.0
 + augmax==0.4.1
 + av==17.0.0
 + beartype==0.19.0
 + beautifulsoup4==4.13.4
 + blinker==1.9.0
 + cachetools==5.5.2
 + certifi==2025.4.26
 + cffi==1.17.1
 + cfgv==3.4.0
 + charset-normalizer==3.4.2
 + chex==0.1.90
 + click==8.2.1
 + cloudpickle==3.1.1
 + cmake==4.0.2
 + comm==0.2.2
 + contourpy==1.3.2
 + crc32c==2.7.1
 + cycler==0.12.1
 + datasets==3.6.0
 + debugpy==1.8.14
 + decorator==5.2.1
 + deepdiff==8.5.0
 + diffusers==0.33.1
 + dill==0.3.8
 + distlib==0.3.9
 + dm-control==1.0.14
 + dm-env==1.6
 + dm-tree==0.1.9
 + docker-pycreds==0.4.0
 + docstring-parser==0.16
 + donfig==0.8.1.post1
 + draccus==0.10.0
 + einops==0.8.1
 + equinox==0.12.2
 + etils==1.12.2
 + evdev==1.9.2
 + executing==2.2.0
 + farama-notifications==0.0.4
 + filelock==3.18.0
 + flask==3.1.1
 + flatbuffers==25.2.10
 + flax==0.10.2
 + fonttools==4.58.1
 + frozenlist==1.6.0
 + fsspec==2025.3.0
 + gcsfs==2025.3.0
 + gdown==5.2.0
 + gitdb==4.0.12
 + gitpython==3.1.44
 + glfw==2.9.0
 + google-api-core==2.24.2
 + google-auth==2.40.2
 + google-auth-oauthlib==1.2.2
 + google-cloud-core==2.4.3
 + google-cloud-storage==3.1.0
 + google-crc32c==1.7.1
 + google-resumable-media==2.7.2
 + googleapis-common-protos==1.70.0
 + gym-aloha==0.1.1
 + gymnasium==0.29.1
 + h5py==3.13.0
 + hf-transfer==0.1.9
 + hf-xet==1.1.2
 + huggingface-hub==0.32.3
 + humanize==4.12.3
 + identify==2.6.12
 + idna==3.10
 + imageio==2.37.0
 + imageio-ffmpeg==0.6.0
 + importlib-metadata==8.7.0
 + importlib-resources==6.5.2
 + iniconfig==2.1.0
 + inquirerpy==0.3.4
 + ipykernel==6.29.5
 + ipython==9.2.0
 + ipython-pygments-lexers==1.1.1
 + ipywidgets==8.1.7
 + itsdangerous==2.2.0
 + jax==0.5.3
 + jax-cuda12-pjrt==0.5.3
 + jax-cuda12-plugin==0.5.3
 + jaxlib==0.5.3
 + jaxtyping==0.2.36
 + jedi==0.19.2
 + jinja2==3.1.6
 + jsonlines==4.0.0
 + jupyter-client==8.6.3
 + jupyter-core==5.8.1
 + jupyterlab-widgets==3.0.15
 + kiwisolver==1.4.8
 + labmaze==1.0.6
 + lerobot==0.1.0 (from git+https://github.com/huggingface/lerobot@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5)
 + llvmlite==0.44.0
 + lxml==5.4.0
 + markdown-it-py==3.0.0
 + markupsafe==3.0.2
 + matplotlib==3.10.3
 + matplotlib-inline==0.1.7
 + mdurl==0.1.2
 + mergedeep==1.3.4
 + ml-collections==1.0.0
 + ml-dtypes==0.4.1
 + mpmath==1.3.0
 + msgpack==1.1.0
 + mujoco==2.3.7
 + multidict==6.4.4
 + multiprocess==0.70.16
 + mypy-extensions==1.1.0
 + nest-asyncio==1.6.0
 + networkx==3.5
 + nodeenv==1.9.1
 + numba==0.61.2
 + numcodecs==0.16.1
 + numpy==1.26.4
 + numpydantic==1.6.9
 + nvidia-cublas-cu12==12.6.4.1
 + nvidia-cuda-cupti-cu12==12.6.80
 + nvidia-cuda-nvcc-cu12==12.9.41
 + nvidia-cuda-nvrtc-cu12==12.6.77
 + nvidia-cuda-runtime-cu12==12.6.77
 + nvidia-cudnn-cu12==9.5.1.17
 + nvidia-cufft-cu12==11.3.0.4
 + nvidia-cufile-cu12==1.11.1.6
 + nvidia-curand-cu12==10.3.7.77
 + nvidia-cusolver-cu12==11.7.1.2
 + nvidia-cusparse-cu12==12.5.4.2
 + nvidia-cusparselt-cu12==0.6.3
 + nvidia-ml-py==12.575.51
 + nvidia-nccl-cu12==2.26.2
 + nvidia-nvjitlink-cu12==12.6.85
 + nvidia-nvtx-cu12==12.6.77
 + oauthlib==3.2.2
 + omegaconf==2.3.0
 + opencv-python==4.11.0.86
 + opencv-python-headless==4.11.0.86
 + openpi==0.1.0 (from file:///workspace/openpi)
 + openpi-client==0.1.0 (from file:///workspace/openpi/packages/openpi-client)
 + opt-einsum==3.4.0
 + optax==0.2.4
 + orbax-checkpoint==0.11.13
 + orderly-set==5.4.1
 + packaging==25.0
 + pandas==2.2.3
 + parso==0.8.4
 + pexpect==4.9.0
 + pfzy==0.3.4
 + pillow==11.2.1
 + platformdirs==4.3.8
 + pluggy==1.6.0
 + polars==1.30.0
 + pre-commit==4.2.0
 + prompt-toolkit==3.0.51
 + propcache==0.3.1
 + proto-plus==1.26.1
 + protobuf==4.25.8
 + psutil==7.0.0
 + ptyprocess==0.7.0
 + pure-eval==0.2.3
 + pyarrow==20.0.0
 + pyasn1==0.6.1
 + pyasn1-modules==0.4.2
 + pycparser==2.22
 + pydantic==2.11.5
 + pydantic-core==2.33.2
 + pygments==2.19.1
 + pymunk==7.0.0
 + pynput==1.8.1
 + pynvml==12.0.0
 + pyopengl==3.1.9
 + pyparsing==3.2.3
 + pysocks==1.7.1
 + pytest==8.3.5
 + python-dateutil==2.9.0.post0
 + python-xlib==0.33
 + pytz==2025.2
 + pyyaml==6.0.2
 + pyyaml-include==1.4.1
 + pyzmq==26.4.0
 + regex==2024.11.6
 + requests==2.32.3
 + requests-oauthlib==2.0.0
 + rerun-sdk==0.23.1
 + rich==14.0.0
 + rsa==4.9.1
 + ruff==0.11.12
 + safetensors==0.5.3
 + scipy==1.15.3
 + sentencepiece==0.2.0
 + sentry-sdk==2.29.1
 + setproctitle==1.3.6
 + setuptools==80.9.0
 + shtab==1.7.2
 + simplejson==3.20.1
 + six==1.17.0
 + smmap==5.0.2
 + soupsieve==2.7
 + stack-data==0.6.3
 + sympy==1.14.0
 + tensorstore==0.1.74
 + termcolor==3.1.0
 + tokenizers==0.21.1
 + toml==0.10.2
 + toolz==1.0.0
 + torch==2.7.1
 + torchcodec==0.4.0
 + torchvision==0.22.1
 + tornado==6.5.1
 + tqdm==4.67.1
 + tqdm-loggable==0.2
 + traitlets==5.14.3
 + transformers==4.53.2
 + treescope==0.1.9
 + triton==3.3.1
 + typeguard==4.4.2
 + typing-extensions==4.13.2
 + typing-inspect==0.9.0
 + typing-inspection==0.4.1
 + tyro==0.9.22
 + tzdata==2025.2
 + urllib3==2.4.0
 + virtualenv==20.31.2
 + wadler-lindig==0.1.6
 + wandb==0.19.11
 + wcwidth==0.2.13
 + websockets==15.0.1
 + werkzeug==3.1.3
 + widgetsnbextension==4.0.14
 + wrapt==1.14.1
 + xxhash==3.5.0
 + yarl==1.20.0
 + zarr==3.0.8
 + zipp==3.22.0
    (55 秒)

=== 3f. addon・設定・assets (pi05_mecharm_deep_even10_lora)
installed: policies/mecharm_policy.py + config.py (pi05_mecharm_lora)
installed: pi05_mecharm_trim_lora (repo_id=local/mecharm_redblock_box_teach_v1_trim2, 4,000 steps)
installed: pi05_mecharm_deep_even10_lora (repo_id=local/mecharm_redblock_box_deep_even10_v1, 3000 steps, decay_steps 5000, init=π0.5 base)
    (2 秒)

=== 4. サーバーの起動
[SERVE ] --model deep1: --policy.config=pi05_mecharm_deep_even10_lora --policy.dir=/workspace/ckpt/deep_v1_2999
INFO:websockets.server:server listening on 0.0.0.0:8000
    (44 秒)

=== 5. Mac の 8000 番へのトンネル
[TUNNEL] localhost:8000 → Pod の 8000 番 (pid 4484. このスクリプトが終わると閉じる)
    (2 秒)

=== 6. デーモンの状態
--- process
529 /usr/bin/python3 -u /home/ubuntu/mecharm_daemon.py
--- 5555
LISTEN0      1                                 0.0.0.0:5555        0.0.0.0:*    
--- systemd
enabled: enabled
active:  active
    (2 秒)

=== 7. HOME → 爪を開く → 位置合わせ (1 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [0.08, 1.23, 1.23, -0.26, 0.17, -30.23]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=1.23°
[DONE] HOME 到達 max_err=1.23°
[POST] 最終姿勢: [0.08, 1.23, 1.23, -0.26, 0.17, -30.23]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= None
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy=  +0.8  dx=  -0.8  response=0.963  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (13 秒)

=== 8. 実機推論 (1 回目)
[WAIT  ] 送ったあと 0.0s / 爪のあと 0.8s (開くときの daemon 0.0s) / 止まるのを待つ目安 0.8s
[SAFE  ] 安全範囲 (学習 50 本 ±10°): j0[-72,+55]  j1[-9,+88]  j2[-45,+52]  j3[-18,+27]  j4[-87,+10]  j5[-51,-15]
[SAFE  ] 肩 j1 の上限は J1_SAFE_MAX=88° で切った (これを超える指令はアームが黙って捨てる / LOG352)  元データ: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes
[MODE  ] EXECUTE  steps/chunk=10  max_move=20.0°  log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_111034
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-5.5 dx=+5.9 response=0.600 → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[CAMERA] 基準: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_183454/frames/000000.jpg
[POLICY] 接続 ws://localhost:8000  metadata={}
[RECORD] 上カメラと実測角を 1 秒 10 コマで記録します → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_111034/recording
[GRIP  ] 開始時のグリッパー開放は, 最初の目標が検査を通ってから行います (爪が閉じていたら手で開けておく)
[STATE ] 実測を渡す (直前に送った目標がない)
[000] 推論 58134ms  10ステップ先  Δ= +2.3 +14.1  +7.4  -1.7 -19.5  +1.8
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[GRIP  ] 開始時にグリッパーを開く
  [Pi] GRIPPER: OPEN result= None
[SEND] pi05_chunk000_via02: send_angles (single) [  +0.52,   +4.65,   +2.70,   -0.34,   -4.04,  -30.10]  speed=20 wait=0.0s  (pre max|Δ|=4.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.76° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  +3.4  +1.5  -0.1  -4.2  +0.1  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  +1.14,   +8.98,   +4.81,   -0.62,  -10.16,  -29.60]  speed=20 wait=0.0s  (pre max|Δ|=6.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.08° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.1  +3.4  +1.2  -0.5  -6.9  +0.6  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  +2.15,  +14.08,   +7.88,   -1.68,  -17.50,  -28.66]  speed=20 wait=0.0s  (pre max|Δ|=7.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.07° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.2  +4.1  +2.2  -1.5  -7.7  +1.2  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [  +2.33,  +15.35,   +8.67,   -1.96,  -19.32,  -28.43]  speed=20 wait=0.0s  (pre max|Δ|=2.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.09° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  +0.2  -0.1  -1.3  -2.5  +0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.09°（関節 j3）
[001] 推論 583ms  10ステップ先  Δ= +4.9 +12.9  +7.3  -1.7 -19.8  +1.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [  +3.47,  +18.94,  +10.72,   -2.32,  -24.48,  -27.80]  speed=20 wait=0.0s  (pre max|Δ|=5.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.93° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.6  +2.8  +1.3  -0.7  -5.4  +0.8  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [  +4.95,  +22.86,  +12.99,   -2.48,  -30.15,  -27.41]  speed=20 wait=0.0s  (pre max|Δ|=6.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.50° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.8  +2.9  +1.5  +0.2  -6.3  +0.6  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [  +6.39,  +27.56,  +15.99,   -2.64,  -36.92,  -27.30]  speed=20 wait=0.0s  (pre max|Δ|=7.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.56° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.7  +3.8  +2.3  +0.3  -7.4  +0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [  +6.73,  +29.04,  +16.65,   -2.60,  -38.89,  -27.25]  speed=20 wait=0.0s  (pre max|Δ|=2.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.01° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  +0.5  -0.0  +0.5  -2.9  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.01°（関節 j1）
[002] 推論 628ms  10ステップ先  Δ= +3.2  +6.5  +3.6  +0.7 -10.4  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [  +7.59,  +31.65,  +18.11,   -2.45,  -42.24,  -27.20]  speed=20 wait=0.0s  (pre max|Δ|=3.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.78° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.4  +1.6  +0.8  +0.6  -3.7  +0.2  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [  +8.51,  +34.21,  +19.29,   -2.38,  -45.30,  -27.18]  speed=20 wait=0.0s  (pre max|Δ|=3.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.85° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.0  +1.8  +0.6  +0.8  -3.1  +0.2  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [  +9.20,  +36.40,  +20.73,   -2.34,  -48.41,  -27.16]  speed=20 wait=0.0s  (pre max|Δ|=3.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.95° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.6  +1.2  +1.0  +0.9  -3.4  +0.3  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [  +9.34,  +36.56,  +20.88,   -2.32,  -48.98,  -27.14]  speed=20 wait=0.0s  (pre max|Δ|=0.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.79° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -0.8  -0.3  +0.7  -0.9  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.79°（関節 j1）
[003] 推論 1493ms  10ステップ先  Δ= +2.3  +6.4  +3.6  +0.9  -9.1  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk003_via02: send_angles (single) [ +10.51,  +39.20,  +22.74,   -2.27,  -53.01,  -27.14]  speed=20 wait=0.0s  (pre max|Δ|=4.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.79° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.1  +1.8  +1.6  +0.5  -4.5  +0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ +11.13,  +41.27,  +24.01,   -2.12,  -55.28,  -27.10]  speed=20 wait=0.0s  (pre max|Δ|=1.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.7  +1.2  +0.8  +0.3  -1.8  +0.2  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ +11.58,  +42.97,  +24.62,   -2.04,  -56.74,  -27.08]  speed=20 wait=0.0s  (pre max|Δ|=0.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.97° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  +0.8  +0.2  +0.3  -0.7  +0.3  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ +11.69,  +43.70,  +24.80,   -2.04,  -57.39,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=0.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  -0.2  +0.4  +0.2  -0.4  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.94°（関節 j1）
[004] 推論 744ms  10ステップ先  Δ= +3.5  +8.2  +1.3  -0.3  -5.9  +0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ +12.79,  +47.21,  +26.58,   -2.11,  -61.02,  -27.01]  speed=20 wait=0.0s  (pre max|Δ|=3.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.6  +2.6  +1.9  +0.2  -3.5  +0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ +14.01,  +49.19,  +27.15,   -2.09,  -62.88,  -27.00]  speed=20 wait=0.0s  (pre max|Δ|=1.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.3  +0.9  +0.3  -0.2  -1.6  +0.2  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ +14.37,  +51.55,  +26.26,   -2.52,  -63.32,  -27.05]  speed=20 wait=0.0s  (pre max|Δ|=1.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.92° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  +1.5  -0.6  -0.6  -0.2  +0.2  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ +14.63,  +52.80,  +25.97,   -2.59,  -63.41,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=0.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.8  +0.3  -0.9  -0.8  +0.4  +0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.98°（関節 j1）
[005] 推論 745ms  10ステップ先  Δ= +0.1  +7.8  -8.1  -0.9  -0.7  -0.2  グリッパー→閉
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk005_via02: send_angles (single) [ +14.80,  +56.49,  +22.73,   -2.69,  -63.15,  -27.21]  speed=20 wait=0.0s  (pre max|Δ|=4.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.52° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.0  +2.7  -4.2  -0.8  +0.9  +0.0  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ +14.74,  +60.21,  +20.01,   -2.74,  -63.90,  -27.33]  speed=20 wait=0.0s  (pre max|Δ|=3.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.17° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.0  +2.8  -3.7  -0.7  +0.2  -0.1  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ +14.90,  +61.57,  +18.77,   -2.75,  -64.79,  -27.47]  speed=20 wait=0.0s  (pre max|Δ|=1.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  +0.7  -2.0  -0.6  +0.2  -0.1  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ +14.90,  +61.57,  +18.77,   -2.75,  -64.79,  -27.47]  speed=20 wait=0.0s  (pre max|Δ|=1.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -0.7  -0.8  -0.6  +1.4  -0.1  着いた
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
[STATE ] 目標を渡す  目標と実測の最大差 2.53°（関節 j4）
[006] 推論 636ms  10ステップ先  Δ= +0.7  -9.6  +6.1  -1.5  +4.5  +1.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk006_via02: send_angles (single) [ +14.83,  +59.13,  +19.54,   -3.33,  -62.91,  -26.86]  speed=20 wait=0.0s  (pre max|Δ|=4.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.86° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  -3.2  +0.0  -1.1  +4.6  +0.8  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ +14.69,  +55.35,  +22.38,   -3.91,  -61.76,  -26.14]  speed=20 wait=0.0s  (pre max|Δ|=5.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -5.3  +2.9  -1.4  +3.0  +1.4  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +14.90,  +52.79,  +25.45,   -3.82,  -62.14,  -26.11]  speed=20 wait=0.0s  (pre max|Δ|=4.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.79° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -4.2  +3.4  -0.1  -0.1  +0.3  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +15.10,  +52.71,  +25.72,   -3.67,  -62.85,  -26.27]  speed=20 wait=0.0s  (pre max|Δ|=1.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.87° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.7  -1.9  +0.7  +0.3  -1.3  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.87°（関節 j1）
[007] 推論 594ms  10ステップ先  Δ= +0.6  -7.1  +0.3  +0.6  -1.4  -0.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk007_via02: send_angles (single) [ +15.24,  +51.38,  +25.58,   -3.60,  -62.93,  -26.32]  speed=20 wait=0.0s  (pre max|Δ|=3.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.96° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.8  -3.2  +0.5  +0.3  -1.3  +0.0  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +15.17,  +50.96,  +25.48,   -3.47,  -63.16,  -26.36]  speed=20 wait=0.0s  (pre max|Δ|=2.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.0  -2.4  -0.1  +0.3  -1.5  -0.1  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +15.06,  +48.74,  +25.38,   -3.44,  -63.06,  -26.38]  speed=20 wait=0.0s  (pre max|Δ|=4.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.70° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  -4.4  -0.2  +0.3  -1.5  -0.2  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +15.02,  +47.53,  +25.38,   -3.38,  -62.92,  -26.37]  speed=20 wait=0.0s  (pre max|Δ|=2.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.86° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.2  -2.9  -0.2  +0.5  -0.6  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.86°（関節 j1）
[008] 推論 561ms  10ステップ先  Δ= -0.8 -12.9  -2.0  +0.4  -1.0  -0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk008_via02: send_angles (single) [ +14.99,  +44.40,  +25.39,   -3.36,  -63.17,  -26.38]  speed=20 wait=0.0s  (pre max|Δ|=4.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.83° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  -5.0  -0.2  +0.5  -0.9  -0.2  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +14.85,  +40.03,  +25.23,   -3.36,  -63.18,  -26.38]  speed=20 wait=0.0s  (pre max|Δ|=6.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.89° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.3  -6.1  -0.3  +0.5  -0.6  -0.2  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +14.62,  +37.02,  +23.99,   -3.48,  -63.35,  -26.41]  speed=20 wait=0.0s  (pre max|Δ|=4.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.6  -4.9  -1.6  +0.4  -0.8  -0.3  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +14.41,  +36.49,  +23.60,   -3.43,  -63.29,  -26.41]  speed=20 wait=0.0s  (pre max|Δ|=2.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.18° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.8  -2.2  -1.8  +0.4  -0.7  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.09°（関節 j1）
[009] 推論 659ms  10ステップ先  Δ= -0.4 -25.0  -0.7  +0.4  +1.6  -0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk009_via02: send_angles (single) [ +14.73,  +30.61,  +23.77,   -3.44,  -62.97,  -26.43]  speed=20 wait=0.0s  (pre max|Δ|=7.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.82° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  -7.9  -1.6  +0.3  -0.4  -0.3  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +14.61,  +21.75,  +23.84,   -3.51,  -62.02,  -26.46]  speed=20 wait=0.0s  (pre max|Δ|=10.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.71° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1 -10.7  -1.6  +0.4  +0.5  -0.4  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +14.34,  +14.54,  +24.58,   -3.44,  -61.09,  -26.47]  speed=20 wait=0.0s  (pre max|Δ|=8.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.54° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.2  -8.9  -0.8  +0.4  +1.5  -0.4  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +14.11,  +13.60,  +24.74,   -3.40,  -60.92,  -26.48]  speed=20 wait=0.0s  (pre max|Δ|=2.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -2.5  -0.7  +0.5  +1.6  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.65°（関節 j4）
[010] 推論 1584ms  10ステップ先  Δ= +0.3  -4.1  +0.3  +0.8  +0.2  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk010_via02: send_angles (single) [ +14.23,  +11.65,  +24.92,   -3.33,  -61.25,  -26.55]  speed=20 wait=0.0s  (pre max|Δ|=3.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.26° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.3  -3.5  -0.5  +0.5  +0.8  -0.5  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +14.32,  +10.01,  +25.20,   -3.31,  -61.34,  -26.61]  speed=20 wait=0.0s  (pre max|Δ|=2.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.59° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.2  -2.9  -0.2  +0.4  +0.5  -0.4  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +14.67,  +10.65,  +25.49,   -3.23,  -61.95,  -26.65]  speed=20 wait=0.0s  (pre max|Δ|=0.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.68° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  -0.7  -0.2  +0.4  -0.1  -0.5  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +14.81,  +11.02,  +25.67,   -3.18,  -62.39,  -26.68]  speed=20 wait=0.0s  (pre max|Δ|=0.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.84° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -0.3  -0.2  +0.4  -0.5  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.84°（関節 j1）
[011] 推論 566ms  10ステップ先  Δ= +1.7  -0.3 +11.1  +0.4  -3.8  -0.9
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk011_via02: send_angles (single) [ +16.32,  +11.05,  +27.41,   -3.05,  -62.99,  -26.83]  speed=20 wait=0.0s  (pre max|Δ|=1.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.12° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.8  -0.8  +1.1  +0.5  -1.1  -0.6  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +16.56,  +11.61,  +33.92,   -2.93,  -64.92,  -27.07]  speed=20 wait=0.0s  (pre max|Δ|=5.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.73° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -0.3  +5.9  -0.1  -3.1  -0.8  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +16.34,  +11.52,  +37.00,   -3.12,  -65.68,  -27.02]  speed=20 wait=0.0s  (pre max|Δ|=2.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.17° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  -0.9  +2.5  -0.3  -2.5  -0.8  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +16.24,  +11.51,  +37.37,   -3.15,  -65.71,  -27.05]  speed=20 wait=0.0s  (pre max|Δ|=1.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.20° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  -0.9  -0.2  -0.4  -1.2  -0.8  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.20°（関節 j4）
[012] 推論 616ms  10ステップ先  Δ= +2.6 +11.0  -7.7  +1.5  -3.0  -2.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk012_via02: send_angles (single) [ +16.67,  +15.20,  +36.22,   -2.51,  -66.66,  -27.46]  speed=20 wait=0.0s  (pre max|Δ|=2.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  +2.8  -1.7  +0.2  -2.2  -1.0  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +17.52,  +19.54,  +33.50,   -1.90,  -67.67,  -27.98]  speed=20 wait=0.0s  (pre max|Δ|=4.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.88° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.3  +3.5  -4.4  +0.8  -1.1  -1.1  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +18.56,  +23.06,  +30.61,   -1.28,  -67.65,  -28.73]  speed=20 wait=0.0s  (pre max|Δ|=4.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.99° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.0  +2.6  -4.6  +0.9  -0.9  -1.3  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +18.87,  +23.44,  +30.17,   -1.26,  -67.50,  -28.82]  speed=20 wait=0.0s  (pre max|Δ|=1.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.91° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  -0.5  -1.9  -0.0  -0.2  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.91°（関節 j2）
[013] 推論 1523ms  10ステップ先  Δ= +9.1  +4.0 -14.1  +2.8  +2.0  -2.9
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk013_via02: send_angles (single) [ +21.96,  +24.45,  +26.29,   -0.00,  -66.88,  -29.81]  speed=20 wait=0.0s  (pre max|Δ|=5.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.92° (tol 3.0°)
       [VIA   ] step  2  Δ= +3.2  +0.1  -5.8  +1.2  +0.4  -1.4  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [ +24.34,  +25.06,  +22.91,   +0.66,  -66.58,  -30.48]  speed=20 wait=0.0s  (pre max|Δ|=4.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.22° (tol 3.0°)
       [VIA   ] step  5  Δ= +2.4  -0.3  -4.8  +0.2  +0.7  -1.0  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [ +27.01,  +27.02,  +19.27,   +1.27,  -65.66,  -31.09]  speed=20 wait=0.0s  (pre max|Δ|=4.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.91° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.9  +1.2  -4.9  +0.3  +1.7  -0.9  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [ +27.86,  +28.36,  +18.02,   +1.54,  -65.33,  -31.19]  speed=20 wait=0.0s  (pre max|Δ|=2.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.99° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.0  +0.4  -2.6  -0.1  +2.0  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.99°（関節 j4）
[014] 推論 602ms  10ステップ先  Δ= +6.2  +9.4  -7.7  +1.1  +1.2  -0.9
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > p
objc[4511]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bc890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b612c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bc8e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bc958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bc980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b613b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bc9d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bca20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bca98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b614d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bcae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bcb38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bcb88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b615c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bcbb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b615e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bcbd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bcc50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bccc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bcd18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bcd40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b61778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[4511]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x1134bcd90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x123b617c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
  from pkg_resources import resource_stream, resource_exists
[PAD   ] 補正 1 (推論 14 のあと). ゲームパッドで直して, □ で推論に戻ります
コントローラーを待っています（つないでいなければ、今つないでください）。□ で推論に戻ります
[接続] PS4 Controller  GUID=03008fe54c050000cc09000000016800  軸=6  ボタン=16
[送信] j1 +1.0° → +27.68 +30.53 +19.86 +1.58 -65.74 -30.84  手前で止まった（次の押しは この目標の先から）（ずれ 1.11°）  届いた角度 +27.68 +31.64 +19.86 +1.66 -64.86 -30.84
[送信] j1 +2.0° → +27.68 +32.53 +19.86 +1.58 -65.74 -30.84  手前で止まった（次の押しは この目標の先から）（ずれ 1.13°）  届いた角度 +27.68 +33.66 +19.86 +1.66 -64.86 -30.84
[送信] j1 +2.0° → +27.68 +34.53 +19.86 +1.58 -65.74 -30.84  手前で止まった（次の押しは この目標の先から）（ずれ 1.06°）  届いた角度 +27.68 +35.59 +19.86 +1.75 -64.77 -30.84
[PAD   ] 補正 1 を終えました (83.3 秒, 送った目標 3 回). この姿勢から推論に戻ります
[STATE ] 実測を渡す (直前に送った目標がない)
[015] 推論 1774ms  10ステップ先  Δ=+11.5  +9.0  -8.7  +1.4  +1.2  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk015_via02: send_angles (single) [ +32.19,  +35.86,  +17.76,   +2.13,  -63.82,  -31.00]  speed=20 wait=0.0s  (pre max|Δ|=4.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.10° (tol 3.0°)
       [VIA   ] step  2  Δ= +4.5  +0.3  -2.1  +0.4  +1.0  -0.2  着いた
[SEND] pi05_chunk015_via05: send_angles (single) [ +36.65,  +37.94,  +14.87,   +2.69,  -63.09,  -31.24]  speed=20 wait=0.0s  (pre max|Δ|=4.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.70° (tol 3.0°)
       [VIA   ] step  5  Δ= +4.2  +1.1  -5.0  +0.1  +1.8  -0.4  着いた
[SEND] pi05_chunk015_via08: send_angles (single) [ +39.00,  +42.96,  +11.84,   +3.06,  -63.44,  -31.39]  speed=20 wait=0.0s  (pre max|Δ|=4.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.31° (tol 3.0°)
       [VIA   ] step  8  Δ= +2.0  +4.0  -4.5  +0.4  +1.4  -0.5  着いた
[SEND] pi05_chunk015_via09: send_angles (single) [ +39.14,  +44.54,  +11.19,   +3.10,  -63.65,  -31.40]  speed=20 wait=0.0s  (pre max|Δ|=2.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.64° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.1  +0.4  -2.1  -0.1  +1.2  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.64°（関節 j2）
[016] 推論 931ms  10ステップ先  Δ= +2.0 +13.2  -5.2  +0.2  -6.9  -0.5  グリッパー→開
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk016_via02: send_angles (single) [ +40.59,  +49.23,  +10.09,   +3.05,  -65.54,  -31.51]  speed=20 wait=0.0s  (pre max|Δ|=3.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.59° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.6  +3.5  -2.7  -0.5  -0.7  -0.3  着いた
[SEND] pi05_chunk016_via05: send_angles (single) [ +40.95,  +54.97,   +8.87,   +3.30,  -68.90,  -31.60]  speed=20 wait=0.0s  (pre max|Δ|=4.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.37° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  +4.6  -2.8  -0.1  -4.0  -0.4  着いた
[SEND] pi05_chunk016_via08: send_angles (single) [ +41.05,  +58.93,   +7.63,   +3.69,  -71.74,  -31.71]  speed=20 wait=0.0s  (pre max|Δ|=4.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.61° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  +2.8  -2.5  +0.3  -4.3  -0.4  着いた
[SEND] pi05_chunk016_via09: send_angles (single) [ +41.05,  +58.93,   +7.63,   +3.69,  -71.74,  -31.71]  speed=20 wait=0.0s  (pre max|Δ|=1.52°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.52° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -1.1  -1.2  +0.3  -1.5  -0.3  着いた
  [Pi] GRIPPER: OPEN result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.24°（関節 j2）
[017] 推論 642ms  10ステップ先  Δ= +0.3 -14.2  -1.2  +0.2 +13.4  -0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk017_via02: send_angles (single) [ +41.16,  +54.58,   +7.79,   +3.64,  -67.02,  -31.75]  speed=20 wait=0.0s  (pre max|Δ|=5.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.67° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  -5.4  -1.1  +0.2  +4.6  -0.4  着いた
[SEND] pi05_chunk017_via05: send_angles (single) [ +41.40,  +50.97,   +7.88,   +3.63,  -63.49,  -31.78]  speed=20 wait=0.0s  (pre max|Δ|=6.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.51° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  -5.5  -1.0  +0.2  +6.2  -0.1  着いた
[SEND] pi05_chunk017_via08: send_angles (single) [ +41.20,  +47.27,   +7.79,   +3.63,  -59.80,  -31.79]  speed=20 wait=0.0s  (pre max|Δ|=6.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.25° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.3  -5.6  -1.1  +0.3  +6.0  -0.1  着いた
[SEND] pi05_chunk017_via09: send_angles (single) [ +40.88,  +45.80,   +7.65,   +3.60,  -58.23,  -31.80]  speed=20 wait=0.0s  (pre max|Δ|=3.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.01° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.5  -3.3  -1.2  +0.1  +3.6  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.01°（関節 j1）
[018] 推論 560ms  10ステップ先  Δ=-13.8 -18.9  -1.2  -1.4 +21.5  -0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk018_via02: send_angles (single) [ +38.52,  +40.88,   +7.98,   +3.25,  -52.88,  -31.81]  speed=20 wait=0.0s  (pre max|Δ|=6.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.53° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.9  -6.9  -0.9  -0.3  +6.7  -0.2  着いた
[SEND] pi05_chunk018_via05: send_angles (single) [ +34.51,  +35.90,   +7.91,   +2.80,  -47.23,  -31.78]  speed=20 wait=0.0s  (pre max|Δ|=7.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.42° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.3  -7.1  -1.0  -1.1  +6.8  -0.1  着いた
[SEND] pi05_chunk018_via08: send_angles (single) [ +28.98,  +30.39,   +7.74,   +2.25,  -40.28,  -31.71]  speed=20 wait=0.0s  (pre max|Δ|=8.05°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.95° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.7  -7.4  -1.1  -1.4  +8.0  +0.0  着いた
[SEND] pi05_chunk018_via09: send_angles (single) [ +27.54,  +28.88,   +7.69,   +2.11,  -38.31,  -31.70]  speed=20 wait=0.0s  (pre max|Δ|=3.46°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.5  -3.5  -1.2  -0.9  +2.9  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.70°（関節 j1）
[019] 推論 1486ms  10ステップ先  Δ= -9.6 -10.8  -1.6  -1.5 +15.9  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk019_via02: send_angles (single) [ +24.25,  +25.12,   +7.57,   +1.51,  -31.99,  -31.59]  speed=20 wait=0.0s  (pre max|Δ|=7.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.86° (tol 3.0°)
       [VIA   ] step  2  Δ= -3.3  -5.5  -1.3  -1.2  +7.0  +0.2  着いた
[SEND] pi05_chunk019_via05: send_angles (single) [ +20.55,  +21.27,   +7.47,   +1.09,  -26.42,  -31.55]  speed=20 wait=0.0s  (pre max|Δ|=6.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.1  -5.7  -1.4  -0.9  +6.1  +0.3  着いた
[SEND] pi05_chunk019_via08: send_angles (single) [ +17.91,  +19.73,   +7.29,   +1.00,  -23.29,  -31.54]  speed=20 wait=0.0s  (pre max|Δ|=3.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.71° (tol 3.0°)
       [VIA   ] step  8  Δ= -2.9  -3.2  -1.6  -0.5  +3.6  +0.3  着いた
[SEND] pi05_chunk019_via09: send_angles (single) [ +17.81,  +19.77,   +7.24,   +1.00,  -23.14,  -31.56]  speed=20 wait=0.0s  (pre max|Δ|=1.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.67° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -1.7  -1.6  -0.1  +0.6  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.67°（関節 j1）
[020] 推論 615ms  10ステップ先  Δ=-15.6 -17.6  -3.6  -1.2 +19.2  +0.8
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk020_via02: send_angles (single) [ +12.14,  +13.98,   +6.76,   +0.19,  -15.52,  -31.04]  speed=20 wait=0.0s  (pre max|Δ|=8.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.7  -7.5  -2.1  -1.0  +8.1  +0.7  着いた
[SEND] pi05_chunk020_via05: send_angles (single) [  +6.25,   +7.67,   +5.93,   -0.05,   -8.12,  -30.99]  speed=20 wait=0.0s  (pre max|Δ|=7.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.62° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.2  -8.0  -2.7  -0.8  +7.6  +0.7  着いた
[SEND] pi05_chunk020_via08: send_angles (single) [  +2.22,   +3.79,   +5.25,   -0.10,   -4.12,  -30.98]  speed=20 wait=0.0s  (pre max|Δ|=5.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.30° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.4  -5.4  -2.3  -0.5  +4.4  +0.7  着いた
[SEND] pi05_chunk020_via09: send_angles (single) [  +2.21,   +3.84,   +5.26,   -0.10,   -4.45,  -31.00]  speed=20 wait=0.0s  (pre max|Δ|=2.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.29° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -1.2  -2.3  -0.4  +0.0  +0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.29°（関節 j2）
[021] 推論 607ms  10ステップ先  Δ= -2.1  -2.5  -3.3  -0.3  +1.4  +0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk021_via02: send_angles (single) [  +0.78,   +2.86,   +4.36,   -0.08,   -3.06,  -31.00]  speed=20 wait=0.0s  (pre max|Δ|=3.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.53° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.7  -2.2  -3.2  -0.3  +1.4  +0.6  着いた
[SEND] pi05_chunk021_via05: send_angles (single) [  +0.42,   +2.78,   +4.34,   -0.09,   -3.09,  -31.01]  speed=20 wait=0.0s  (pre max|Δ|=1.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.61° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.6  -1.6  -1.5  -0.3  -0.0  +0.5  着いた
[SEND] pi05_chunk021_via08: send_angles (single) [  +0.37,   +2.66,   +4.26,   -0.09,   -3.04,  -31.01]  speed=20 wait=0.0s  (pre max|Δ|=1.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.73° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  -1.7  -1.6  -0.3  +0.0  +0.5  着いた
[SEND] pi05_chunk021_via09: send_angles (single) [  +0.38,   +2.64,   +4.25,   -0.08,   -3.03,  -31.01]  speed=20 wait=0.0s  (pre max|Δ|=1.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.63° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  -1.8  -1.6  -0.3  +0.0  +0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.63°（関節 j2）
[022] 推論 1580ms  10ステップ先  Δ= -0.8  -1.5  -1.9  -0.2  +0.1  +0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > h
[SEND] pi05_home: send_angles (single) [  +0.00,   +0.00,   +0.00,   +0.00,   +0.00,  -30.00]  speed=20 wait=0.0s  (pre max|Δ|=5.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.31° (tol 2.5°)
[RECORD] 記録終了 コマ 2737 (8.817 fps) 実測角 2912 回 (9.38 Hz)  電流 2918 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_111034/recording
       結果: y=成功 / n=失敗 / Enter=記録しない > y
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_111034
[CLIENT] run_policy_client.py が終わった (終了コード 0. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1))
    (316 秒)
もう1回やりますか? y=やる / 他=終わる > y

=== 7. HOME → 爪を開く → 位置合わせ (2 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [0.43, 1.23, 1.23, 0.17, -0.26, -30.23]
[SEND] HOME へ移動指令
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[WARN] get_angles 失敗 (試行 1/3)
[WAIT] t=3.5s  max_err=210.00°
[WAIT] t=4.1s  max_err=1.23°
[DONE] HOME 到達 max_err=1.23°
[POST] 最終姿勢: [0.00, 1.23, 1.23, 0.17, -0.26, -30.23]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= None
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy=  +1.2  dx=  -1.4  response=0.949  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (16 秒)

=== 8. 実機推論 (2 回目)
[WAIT  ] 送ったあと 0.0s / 爪のあと 0.8s (開くときの daemon 0.0s) / 止まるのを待つ目安 0.8s
[SAFE  ] 安全範囲 (学習 50 本 ±10°): j0[-72,+55]  j1[-9,+88]  j2[-45,+52]  j3[-18,+27]  j4[-87,+10]  j5[-51,-15]
[SAFE  ] 肩 j1 の上限は J1_SAFE_MAX=88° で切った (これを超える指令はアームが黙って捨てる / LOG352)  元データ: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes
[MODE  ] EXECUTE  steps/chunk=10  max_move=20.0°  log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_111726
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=-5.4 dx=+5.7 response=0.607 → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[CAMERA] 基準: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_183454/frames/000000.jpg
[POLICY] 接続 ws://localhost:8000  metadata={}
[RECORD] 上カメラと実測角を 1 秒 10 コマで記録します → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_111726/recording
[GRIP  ] 開始時のグリッパー開放は, 最初の目標が検査を通ってから行います (爪が閉じていたら手で開けておく)
[STATE ] 実測を渡す (直前に送った目標がない)
[000] 推論 561ms  10ステップ先  Δ= +2.0  +9.7  +7.2  -1.2 -15.5  +0.9
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > q
[RECORD] 記録終了 コマ 151 (8.874 fps) 実測角 170 回 (9.99 Hz)  電流 170 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_111726/recording
       結果: y=成功 / n=失敗 / Enter=記録しない > 
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_111726
[CLIENT] run_policy_client.py が終わった (終了コード 0. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1))
    (23 秒)
もう1回やりますか? y=やる / 他=終わる > 

=== かかった時間 (Log28 の Pod (id prm86xv997s945) につなぎ直し)  モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
  1. Pod につなぎ直す             2 秒
  2. Pod が立ち上がるまで待つ      5 秒
  3. Pod の中を確かめる (つなぎ直し)      6 秒
  3a. スクリプトを送る         76 秒
  3b. huggingface_hub を入れ, 鍵を渡す      9 秒
  3c. モデルを取る (hf download PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)    133 秒
  3d. openpi を取る (215abfb)       14 秒
  3e. uv sync                          55 秒
  3f. addon・設定・assets (pi05_mecharm_deep_even10_lora)      2 秒
  4. サーバーの起動             44 秒
  5. Mac の 8000 番へのトンネル      2 秒
  6. デーモンの状態              2 秒
  7. HOME → 爪を開く → 位置合わせ (1 回目)     13 秒
  8. 実機推論 (1 回目)          316 秒
  7. HOME → 爪を開く → 位置合わせ (2 回目)     16 秒
  8. 実機推論 (2 回目)           23 秒

[LAB   ] Pod は残しています (id prm86xv997s945). 片付けは ./lab_stop.sh --log Log28
[TUNNEL] 8000 番のトンネルを閉じました
```

### 3回目の立ち上げと実機推論 7回（lab_start_20261110_111950.txt）

```
[RANGE ] 安全範囲 (学習データ ±10°) は /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes から (--model deep1)
[FRAME ] 写り方の確かめの基準画像は /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes の最初のエピソードから (位置合わせと同じ trim2. 依頼 137)
[LAB   ] 2026-11-10 11:19:50  GPU=NVIDIA A40  episode=run_0001_20261019_194818  log=/Volumes/KIOXIA/r2r2r-data/lab/Log28  
[MODEL ] --model deep1: π0.5 base から deep_even10_v1 で新しく学習した 2999 (依頼 133. decay_steps 5000)
         PixelstoMotors/pi05-mecharm-deep-even10-lora-v1 → /workspace/ckpt/deep_v1_2999  設定 pi05_mecharm_deep_even10_lora  assets local/mecharm_redblock_box_deep_even10_v1

=== 1. Pod を作る
[POD   ] Log28 の Pod (id prm86xv997s945) につなぎ直します (状態 RUNNING  GPU=NVIDIA A40  1時間 0.59 ドル  作った時刻 2026-11-10 10:54:21)
[POD   ] 記録の最後のモデル: deep1  今回: --model deep1
    (2 秒)

=== 2. Pod が立ち上がるまで待つ
[POD   ] SSH の IP とポートを API から取り直した (<POD_IP>:<SSH_PORT>)
[POD   ] 入れた: 291dbe7c1015
NVIDIA A40, 46068 MiB
    (6 秒)

=== 3. Pod の中を確かめる (つなぎ直し)
[POD   ] serve_policy.py のプロセス: ある  8000 番の LISTEN: ある
[POD   ] モデル (/workspace/ckpt/deep_v1_2999): ある  openpi (215abfb): ある  .venv: ある
[POD   ] 動いているサーバーのモデル: --policy.dir=/workspace/ckpt/deep_v1_2999 (--model deep1 と同じ)
[POD   ] サーバーは 8000 番で待っています. 3b〜4 を飛ばします
INFO:websockets.server:server listening on 0.0.0.0:8000
    (8 秒)

=== 3a. スクリプトを送る
    (75 秒)

=== 3b〜4. 準備とサーバーの起動 → 飛ばす (サーバーが 8000 番で待っている)

=== 5. Mac の 8000 番へのトンネル
[TUNNEL] localhost:8000 → Pod の 8000 番 (pid 4875. このスクリプトが終わると閉じる)
    (2 秒)

=== 6. デーモンの状態
--- process
529 /usr/bin/python3 -u /home/ubuntu/mecharm_daemon.py
--- 5555
LISTEN0      1                                 0.0.0.0:5555        0.0.0.0:*    
--- systemd
enabled: enabled
active:  active
    (2 秒)

=== 7. HOME → 爪を開く → 位置合わせ (1 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.08, 1.23, 1.23, 0.17, -0.26, -30.23]
[SEND] HOME へ移動指令
[WAIT] t=0.7s  max_err=1.23°
[DONE] HOME 到達 max_err=1.23°
[POST] 最終姿勢: [-0.08, 1.23, 1.23, 0.17, -0.26, -30.23]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= None
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy=  +8.4  dx=  -1.7  response=0.780  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (141 秒)

=== 8. 実機推論 (1 回目)
[WAIT  ] 送ったあと 0.0s / 爪のあと 0.8s (開くときの daemon 0.0s) / 止まるのを待つ目安 0.8s
[SAFE  ] 安全範囲 (学習 50 本 ±10°): j0[-72,+55]  j1[-9,+88]  j2[-45,+52]  j3[-18,+27]  j4[-87,+10]  j5[-51,-15]
[SAFE  ] 肩 j1 の上限は J1_SAFE_MAX=88° で切った (これを超える指令はアームが黙って捨てる / LOG352)  元データ: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes
[MODE  ] EXECUTE  steps/chunk=10  max_move=20.0°  log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112346
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=+1.8 dx=+4.9 response=0.617 → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[CAMERA] 基準: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_183454/frames/000000.jpg
[POLICY] 接続 ws://localhost:8000  metadata={}
[RECORD] 上カメラと実測角を 1 秒 10 コマで記録します → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112346/recording
[GRIP  ] 開始時のグリッパー開放は, 最初の目標が検査を通ってから行います (爪が閉じていたら手で開けておく)
[STATE ] 実測を渡す (直前に送った目標がない)
[000] 推論 1107ms  10ステップ先  Δ=-11.7 +21.7  -0.1  -0.0 -23.4  +0.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[GRIP  ] 開始時にグリッパーを開く
  [Pi] GRIPPER: OPEN result= None
[SEND] pi05_chunk000_via02: send_angles (single) [  -2.10,   +4.79,   +1.18,   +0.32,   -4.06,  -30.22]  speed=20 wait=0.0s  (pre max|Δ|=3.80°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.48° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.0  +3.6  -0.1  +0.1  -3.8  +0.0  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -5.94,  +12.78,   +1.12,   +0.33,  -12.66,  -30.21]  speed=20 wait=0.0s  (pre max|Δ|=10.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=3.00° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.8  +7.2  -0.9  +0.1 -10.6  +0.0  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -10.35,  +20.74,   +1.18,   +0.16,  -21.34,  -30.20]  speed=20 wait=0.0s  (pre max|Δ|=10.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.0  +6.9  -0.8  -0.2 -10.4  +0.0  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -11.75,  +22.91,   +1.11,   +0.13,  -23.65,  -30.18]  speed=20 wait=0.0s  (pre max|Δ|=3.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.91° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.8  +1.0  -0.9  -0.2  -4.0  +0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.91°（関節 j2）
[001] 推論 827ms  10ステップ先  Δ=-16.9 +23.6  -1.0  +0.9 -29.3  +0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [ -17.45,  +30.01,   +1.08,   +0.63,  -31.61,  -30.17]  speed=20 wait=0.0s  (pre max|Δ|=8.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.10° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.5  +6.2  -0.9  +0.6  -8.8  +0.1  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -22.52,  +37.24,   +1.10,   +0.93,  -40.11,  -30.16]  speed=20 wait=0.0s  (pre max|Δ|=9.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.08° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.5  +6.1  -0.9  +0.5  -9.3  -0.0  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -27.69,  +45.35,   +1.12,   +0.94,  -49.73,  -30.15]  speed=20 wait=0.0s  (pre max|Δ|=10.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.63° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.6  +7.0  -0.9  +0.1 -10.5  -0.1  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -28.96,  +47.44,   +0.99,   +0.92,  -52.02,  -30.16]  speed=20 wait=0.0s  (pre max|Δ|=3.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.16° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.6  +1.0  -1.0  +0.0  -3.2  -0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.16°（関節 j1）
[002] 推論 1541ms  10ステップ先  Δ=-11.6 +17.0  -1.0  +1.0 -16.4  -0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ -34.50,  +55.44,   +1.04,   +0.70,  -61.11,  -30.16]  speed=20 wait=0.0s  (pre max|Δ|=9.44°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.16° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.8  +6.8  -0.9  -0.1  -9.4  -0.1  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -38.89,  +62.51,   +0.89,   +0.95,  -68.11,  -30.16]  speed=20 wait=0.0s  (pre max|Δ|=7.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.81° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.5  +5.9  -1.0  -0.0  -7.7  -0.1  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -40.18,  +65.14,   +1.00,   +1.63,  -68.56,  -30.17]  speed=20 wait=0.0s  (pre max|Δ|=1.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.12° (tol 3.0°)
       [VIA   ] step  8  Δ= -1.1  +1.4  -0.9  +0.3  -1.1  -0.1  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -40.20,  +65.63,   +0.95,   +1.74,  -67.97,  -30.19]  speed=20 wait=0.0s  (pre max|Δ|=0.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.90° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -0.6  -0.9  +0.4  +0.1  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.90°（関節 j1）
[003] 推論 744ms  10ステップ先  Δ= -0.1  +4.6  -1.5  +0.2  -3.5  -0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk003_via02: send_angles (single) [ -40.69,  +65.68,   +0.84,   +1.68,  -68.81,  -30.19]  speed=20 wait=0.0s  (pre max|Δ|=1.00°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.00° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  -0.9  -1.0  +0.3  -0.7  -0.2  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -40.71,  +67.33,   +0.68,   +1.65,  -69.71,  -30.18]  speed=20 wait=0.0s  (pre max|Δ|=1.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.16° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.2  +0.8  -1.2  +0.3  -1.6  -0.2  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -40.58,  +70.47,   +0.40,   +1.58,  -71.23,  -30.15]  speed=20 wait=0.0s  (pre max|Δ|=2.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.44° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  +2.0  -1.4  +0.2  -1.7  -0.2  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -40.65,  +71.15,   +0.30,   +1.55,  -71.63,  -30.14]  speed=20 wait=0.0s  (pre max|Δ|=1.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.54° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -0.4  -1.5  +0.2  -1.1  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.54°（関節 j2）
[004] 推論 802ms  10ステップ先  Δ= +0.3  +7.1  -2.5  -0.1  -3.6  -0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ -40.47,  +74.73,   +0.01,   +1.43,  -72.84,  -30.10]  speed=20 wait=0.0s  (pre max|Δ|=2.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.30° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.0  +2.5  -1.8  +0.0  -1.8  -0.1  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -40.28,  +77.76,   -0.35,   +1.37,  -74.07,  -30.08]  speed=20 wait=0.0s  (pre max|Δ|=2.09°, post-send timeout 8.0s)
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[SEND] arrival OK: max|Δ|=1.14° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  +2.1  -1.6  -0.0  -1.6  -0.1  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -40.29,  +79.08,   -0.62,   +1.30,  -74.56,  -30.07]  speed=20 wait=0.0s  (pre max|Δ|=1.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.20° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  +0.4  -1.4  -0.1  -0.4  -0.1  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ -40.25,  +79.32,   -0.69,   +1.31,  -74.63,  -30.08]  speed=20 wait=0.0s  (pre max|Δ|=1.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.13° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -0.7  -1.0  -0.1  +1.1  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.13°（関節 j4）
[005] 推論 625ms  3ステップ先  Δ= +0.3  -0.1  -1.2  -0.1  +0.7  -0.2  グリッパー→閉
       [VIA   ] 中継点 1 点: step 2
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk005_via02: send_angles (single) [ -40.17,  +80.08,   -0.81,   +1.31,  -75.03,  -30.08]  speed=20 wait=0.0s  (pre max|Δ|=1.16°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.43° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -0.1  -1.2  -0.1  +0.7  -0.2  着いた
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
[STATE ] 目標を渡す  目標と実測の最大差 2.05°（関節 j4）
[006] 推論 638ms  10ステップ先  Δ= +0.9 -12.1  +1.3  +0.7  +8.2  -0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk006_via02: send_angles (single) [ -40.05,  +77.04,   -0.50,   +1.28,  -73.56,  -30.08]  speed=20 wait=0.0s  (pre max|Δ|=3.81°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  -3.8  -0.2  +0.4  +3.5  -0.2  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -40.19,  +73.57,   +0.00,   +1.38,  -71.35,  -30.06]  speed=20 wait=0.0s  (pre max|Δ|=5.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.54° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -5.7  +0.3  +0.4  +3.4  -0.2  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -40.03,  +69.82,   +0.79,   +1.52,  -69.29,  -30.04]  speed=20 wait=0.0s  (pre max|Δ|=6.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.68° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -6.0  +1.0  +0.3  +2.5  -0.2  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -39.56,  +68.75,   +1.03,   +1.57,  -68.87,  -30.03]  speed=20 wait=0.0s  (pre max|Δ|=3.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.96° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.0  -3.2  +0.1  +0.3  +0.9  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.96°（関節 j1）

[007] 推論 1515ms  10ステップ先  Δ=+25.9 -15.3  +5.0  +3.9  +4.4  -0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk007_via02: send_angles (single) [ -33.18,  +65.01,   +2.39,   +2.54,  -67.41,  -30.07]  speed=20 wait=0.0s  (pre max|Δ|=6.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.57° (tol 3.0°)
       [VIA   ] step  2  Δ= +5.9  -6.7  +1.2  +1.1  +1.8  -0.3  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ -24.72,  +61.33,   +4.07,   +3.74,  -66.54,  -30.05]  speed=20 wait=0.0s  (pre max|Δ|=8.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.56° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.7  -6.3  +1.1  +1.2  +1.1  -0.3  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ -15.85,  +57.61,   +5.78,   +4.92,  -65.35,  -30.08]  speed=20 wait=0.0s  (pre max|Δ|=9.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.59° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.2  -6.3  +1.1  +1.1  +1.6  -0.3  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ -13.20,  +56.37,   +6.25,   +5.23,  -64.85,  -30.12]  speed=20 wait=0.0s  (pre max|Δ|=3.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.25° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.9  -3.8  +0.0  +0.1  +0.8  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.25°（関節 j1）
[008] 推論 732ms  10ステップ先  Δ=+29.2 -12.8  +4.4  +1.4  +4.4  -0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk008_via02: send_angles (single) [  -4.68,  +53.31,   +7.48,   +6.09,  -63.50,  -30.17]  speed=20 wait=0.0s  (pre max|Δ|=8.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.7  -5.3  +0.7  +0.6  +1.5  -0.5  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [  +4.21,  +50.07,   +9.19,   +6.59,  -62.37,  -30.14]  speed=20 wait=0.0s  (pre max|Δ|=9.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.48° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.0  -5.5  +1.2  +0.3  +1.4  -0.4  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +13.03,  +46.72,  +10.81,   +6.76,  -60.81,  -30.16]  speed=20 wait=0.0s  (pre max|Δ|=8.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.58° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.0  -5.8  +1.1  +0.3  +1.9  -0.4  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +15.77,  +45.82,  +11.13,   +6.77,  -60.62,  -30.18]  speed=20 wait=0.0s  (pre max|Δ|=3.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.08° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.9  -3.5  -0.2  +0.0  +0.3  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.08°（関節 j1）
[009] 推論 1759ms  10ステップ先  Δ=+26.2  -9.8  +3.5  -0.6  +4.7  -0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk009_via02: send_angles (single) [ +24.34,  +43.13,  +12.45,   +7.05,  -59.28,  -30.19]  speed=20 wait=0.0s  (pre max|Δ|=8.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.30° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.7  -4.8  +0.8  +0.1  +1.6  -0.4  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +33.33,  +39.91,  +14.01,   +7.02,  -57.77,  -30.18]  speed=20 wait=0.0s  (pre max|Δ|=9.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.62° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.1  -5.5  +1.0  -0.0  +1.6  -0.4  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +40.72,  +37.82,  +15.18,   +6.55,  -56.19,  -30.20]  speed=20 wait=0.0s  (pre max|Δ|=7.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.34° (tol 3.0°)
       [VIA   ] step  8  Δ= +7.1  -4.5  +0.8  -0.7  +1.8  -0.4  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +41.85,  +38.09,  +15.06,   +6.39,  -56.18,  -30.21]  speed=20 wait=0.0s  (pre max|Δ|=1.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.98° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.1  -2.0  -0.6  -0.4  +0.2  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.98°（関節 j1）
[010] 推論 986ms  10ステップ先  Δ= +1.3 +17.9  -8.4  +2.3 -11.7  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk010_via02: send_angles (single) [ +42.52,  +43.21,  +13.36,   +6.80,  -58.72,  -30.25]  speed=20 wait=0.0s  (pre max|Δ|=3.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.7  +3.1  -2.3  -0.1  -2.3  -0.5  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +43.00,  +50.47,  +10.40,   +7.99,  -63.41,  -30.31]  speed=20 wait=0.0s  (pre max|Δ|=6.90°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.89° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  +6.1  -4.7  +0.9  -6.9  -0.5  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +43.08,  +57.06,   +7.66,   +9.12,  -67.81,  -30.33]  speed=20 wait=0.0s  (pre max|Δ|=6.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.37° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  +5.4  -4.2  +1.7  -6.3  -0.5  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +43.21,  +57.98,   +7.25,   +9.20,  -68.15,  -30.37]  speed=20 wait=0.0s  (pre max|Δ|=1.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.62° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -0.1  -1.7  +0.8  -1.7  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.45°（関節 j2）
[011] 推論 738ms  10ステップ先  Δ= +0.4  +2.0  -2.6  +1.3  -5.6  -0.7  グリッパー→開
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk011_via02: send_angles (single) [ +43.17,  +60.01,   +6.38,   +9.65,  -69.71,  -30.41]  speed=20 wait=0.0s  (pre max|Δ|=2.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.35° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  +0.9  -2.3  +1.0  -2.9  -0.6  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +43.13,  +60.82,   +6.17,   +9.82,  -70.96,  -30.43]  speed=20 wait=0.0s  (pre max|Δ|=1.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -0.3  -1.6  +0.4  -1.7  -0.6  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +43.15,  +61.03,   +6.13,   +9.86,  -72.35,  -30.47]  speed=20 wait=0.0s  (pre max|Δ|=2.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.22° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -0.8  -1.6  +0.4  -2.2  -0.5  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +43.15,  +61.03,   +6.13,   +9.86,  -72.35,  -30.47]  speed=20 wait=0.0s  (pre max|Δ|=1.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.60° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.4  -1.0  -1.6  +0.4  -0.7  -0.5  着いた
  [Pi] GRIPPER: OPEN result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.60°（関節 j2）
[012] 推論 633ms  10ステップ先  Δ= +1.4 -21.7  +5.2  -1.7 +11.2  -0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk012_via02: send_angles (single) [ +43.40,  +58.28,   +7.12,   +9.57,  -71.66,  -30.49]  speed=20 wait=0.0s  (pre max|Δ|=3.77°, post-send timeout 8.0s)
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[SEND] arrival OK: max|Δ|=2.10° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  -3.8  -0.6  -0.0  -0.0  -0.4  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +43.60,  +50.84,   +9.75,   +8.87,  -67.51,  -30.48]  speed=20 wait=0.0s  (pre max|Δ|=9.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.77° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  -9.5  +2.0  -0.9  +5.3  -0.3  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +44.03,  +42.97,  +12.28,   +8.13,  -62.49,  -30.47]  speed=20 wait=0.0s  (pre max|Δ|=10.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.64° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7 -10.2  +2.1  -1.8  +6.6  -0.3  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +44.18,  +40.35,  +12.95,   +7.85,  -60.44,  -30.46]  speed=20 wait=0.0s  (pre max|Δ|=4.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.83° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.9  -4.6  +0.2  -1.4  +3.4  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.83°（関節 j1）
[013] 推論 1548ms  10ステップ先  Δ=-13.8 -20.0  -1.4  -5.0 +26.3  -0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk013_via02: send_angles (single) [ +42.44,  +33.99,  +14.82,   +6.91,  -55.66,  -30.37]  speed=20 wait=0.0s  (pre max|Δ|=8.19°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.13° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.4  -8.2  +1.4  -1.6  +5.6  -0.2  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [ +37.75,  +28.47,  +14.29,   +5.56,  -47.32,  -30.30]  speed=20 wait=0.0s  (pre max|Δ|=9.01°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.02° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.5  -7.7  -1.2  -1.9  +9.0  -0.2  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [ +31.70,  +23.37,  +12.66,   +4.09,  -37.74,  -30.24]  speed=20 wait=0.0s  (pre max|Δ|=10.07°, post-send timeout 8.0s)
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.5  -7.0  -2.8  -1.9 +10.1  -0.0  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [ +30.01,  +22.15,  +12.07,   +3.67,  -35.29,  -30.20]  speed=20 wait=0.0s  (pre max|Δ|=3.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.25° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.9  -3.1  -2.2  -0.8  +2.9  +0.1  着いた

[STATE ] 目標を渡す  目標と実測の最大差 2.25°（関節 j2）
[014] 推論 564ms  10ステップ先  Δ=-21.1 -16.8  -9.6  -3.8 +28.5  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk014_via02: send_angles (single) [ +24.16,  +17.51,  +10.13,   +2.19,  -26.68,  -30.17]  speed=20 wait=0.0s  (pre max|Δ|=8.91°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.73° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.8  -6.4  -4.2  -1.4  +8.9  +0.2  着いた
[SEND] pi05_chunk014_via05: send_angles (single) [ +17.94,  +12.70,   +7.93,   +0.89,  -18.13,  -30.18]  speed=20 wait=0.0s  (pre max|Δ|=8.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.73° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.4  -6.5  -3.9  -1.3  +8.7  +0.3  着いた
[SEND] pi05_chunk014_via08: send_angles (single) [ +10.87,   +8.00,   +5.57,   +0.05,   -9.33,  -30.15]  speed=20 wait=0.0s  (pre max|Δ|=9.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.72° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.3  -6.2  -4.1  -1.2  +9.0  +0.3  着いた
[SEND] pi05_chunk014_via09: send_angles (single) [  +8.86,   +7.07,   +4.74,   -0.08,   -7.07,  -30.14]  speed=20 wait=0.0s  (pre max|Δ|=2.59°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.5  -2.4  -2.5  -0.3  +2.6  +0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.85°（関節 j2）
[015] 推論 660ms  10ステップ先  Δ= -6.8  -6.4  -4.2  -0.1  +7.6  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk015_via02: send_angles (single) [  +3.15,   +2.96,   +2.82,   -0.15,   -0.73,  -30.16]  speed=20 wait=0.0s  (pre max|Δ|=6.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.75° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.4  -5.7  -3.8  -0.1  +6.6  +0.3  着いた
[SEND] pi05_chunk015_via05: send_angles (single) [  +1.57,   +2.17,   +2.19,   -0.21,   +0.58,  -30.17]  speed=20 wait=0.0s  (pre max|Δ|=2.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.11° (tol 3.0°)
       [VIA   ] step  5  Δ= -1.9  -2.2  -2.2  -0.0  +1.6  +0.3  着いた
[SEND] pi05_chunk015_via08: send_angles (single) [  +1.87,   +2.23,   +2.35,   -0.17,   +0.31,  -30.18]  speed=20 wait=0.0s  (pre max|Δ|=1.95°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.95° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7  -1.4  -1.9  +0.1  +0.1  +0.3  着いた
[SEND] pi05_chunk015_via09: send_angles (single) [  +1.85,   +2.25,   +2.37,   -0.16,   +0.31,  -30.18]  speed=20 wait=0.0s  (pre max|Δ|=1.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.93° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.3  -1.3  -1.9  +0.1  +0.1  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.93°（関節 j2）
[016] 推論 555ms  10ステップ先  Δ= -1.3  -1.4  -2.1  +0.1  +1.5  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk016_via02: send_angles (single) [  +1.05,   +2.19,   +2.26,   -0.16,   +1.14,  -30.18]  speed=20 wait=0.0s  (pre max|Δ|=2.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.0  -1.4  -2.0  +0.2  +0.9  +0.3  着いた
[SEND] pi05_chunk016_via05: send_angles (single) [  +0.79,   +2.28,   +2.17,   -0.15,   +1.34,  -30.19]  speed=20 wait=0.0s  (pre max|Δ|=2.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.13° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.4  -1.3  -2.1  +0.2  +0.5  +0.3  着いた
[SEND] pi05_chunk016_via08: send_angles (single) [  +0.67,   +2.22,   +2.22,   -0.20,   +1.64,  -30.20]  speed=20 wait=0.0s  (pre max|Δ|=2.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.08° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.3  -1.4  -2.1  +0.1  +0.7  +0.3  着いた
[SEND] pi05_chunk016_via09: send_angles (single) [  +0.70,   +2.22,   +2.24,   -0.20,   +1.74,  -30.19]  speed=20 wait=0.0s  (pre max|Δ|=2.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.06° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.3  -1.4  -2.1  +0.1  +0.4  +0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.06°（関節 j2）
[017] 推論 584ms  10ステップ先  Δ= -1.1  -1.1  -2.1  +0.3  -0.9  +0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > h
[SEND] pi05_home: send_angles (single) [  +0.00,   +0.00,   +0.00,   +0.00,   +0.00,  -30.00]  speed=20 wait=0.0s  (pre max|Δ|=4.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.40° (tol 2.5°)
[RECORD] 記録終了 コマ 932 (8.887 fps) 実測角 757 回 (7.22 Hz)  電流 771 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112346/recording
       結果: y=成功 / n=失敗 / Enter=記録しない > y
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112346
[CLIENT] run_policy_client.py が終わった (終了コード 0. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1))
    (110 秒)
もう1回やりますか? y=やる / 他=終わる > y

=== 7. HOME → 爪を開く → 位置合わせ (2 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.17, 1.14, 1.23, -0.26, 0.26, -30.23]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=1.23°
[DONE] HOME 到達 max_err=1.23°
[POST] 最終姿勢: [-0.17, 1.14, 1.23, -0.26, 0.26, -30.23]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= None
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy=  +8.6  dx=  -2.2  response=0.733  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (28 秒)

=== 8. 実機推論 (2 回目)
[WAIT  ] 送ったあと 0.0s / 爪のあと 0.8s (開くときの daemon 0.0s) / 止まるのを待つ目安 0.8s
[SAFE  ] 安全範囲 (学習 50 本 ±10°): j0[-72,+55]  j1[-9,+88]  j2[-45,+52]  j3[-18,+27]  j4[-87,+10]  j5[-51,-15]
[SAFE  ] 肩 j1 の上限は J1_SAFE_MAX=88° で切った (これを超える指令はアームが黙って捨てる / LOG352)  元データ: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes
[MODE  ] EXECUTE  steps/chunk=10  max_move=20.0°  log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112639
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=+1.8 dx=+4.1 response=0.666 → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[CAMERA] 基準: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_183454/frames/000000.jpg
[POLICY] 接続 ws://localhost:8000  metadata={}
[RECORD] 上カメラと実測角を 1 秒 10 コマで記録します → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112639/recording
[GRIP  ] 開始時のグリッパー開放は, 最初の目標が検査を通ってから行います (爪が閉じていたら手で開けておく)
[STATE ] 実測を渡す (直前に送った目標がない)
[000] 推論 1564ms  10ステップ先  Δ=-12.1 +19.8  -0.5  +0.8 -19.6  -0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[GRIP  ] 開始時にグリッパーを開く
  [Pi] GRIPPER: OPEN result= None
[SEND] pi05_chunk000_via02: send_angles (single) [  -1.26,   +2.49,   +1.12,   -0.26,   -0.97,  -30.26]  speed=20 wait=0.0s  (pre max|Δ|=1.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.84° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.1  +1.3  -0.1  +0.0  -1.2  -0.0  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -5.84,  +10.30,   +0.95,   +0.07,   -9.11,  -30.29]  speed=20 wait=0.0s  (pre max|Δ|=8.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.9  +6.9  -1.0  +0.3  -8.3  -0.1  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -10.80,  +18.43,   +0.76,   +0.46,  -17.15,  -30.32]  speed=20 wait=0.0s  (pre max|Δ|=8.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.17° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.6  +7.2  -1.2  +0.5  -8.4  -0.1  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -12.32,  +20.91,   +0.74,   +0.55,  -19.38,  -30.33]  speed=20 wait=0.0s  (pre max|Δ|=2.69°, post-send timeout 8.0s)
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[SEND] arrival OK: max|Δ|=1.19° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.8  +1.4  -1.2  +0.2  -2.7  -0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.19°（関節 j2）
[001] 推論 868ms  10ステップ先  Δ=-15.9 +26.4  -2.1  +0.7 -28.9  -0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [ -17.30,  +28.40,   +0.50,   +1.03,  -26.98,  -30.38]  speed=20 wait=0.0s  (pre max|Δ|=8.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.43° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.7  +6.5  -1.4  +0.2  -8.1  -0.2  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -22.49,  +36.82,   +0.25,   +1.36,  -35.87,  -30.41]  speed=20 wait=0.0s  (pre max|Δ|=8.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.68° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.6  +7.2  -1.7  -0.3  -8.9  -0.3  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -27.31,  +45.86,   +0.04,   +1.57,  -45.31,  -30.42]  speed=20 wait=0.0s  (pre max|Δ|=9.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.89° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.9  +7.9  -1.9  -0.4  -9.6  -0.3  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -28.41,  +48.29,   -0.21,   +1.54,  -47.80,  -30.42]  speed=20 wait=0.0s  (pre max|Δ|=2.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.96° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.6  +1.3  -2.1  -0.7  -2.4  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.79°（関節 j2）
[002] 推論 596ms  10ステップ先  Δ=-13.0 +19.5  -2.1  -0.5 -19.6  -0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ -34.34,  +56.42,   -0.35,   +1.37,  -56.19,  -30.41]  speed=20 wait=0.0s  (pre max|Δ|=8.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.93° (tol 3.0°)
       [VIA   ] step  2  Δ= -6.0  +7.0  -1.9  -0.8  -8.7  -0.4  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -38.94,  +63.53,   -0.48,   +1.53,  -63.39,  -30.44]  speed=20 wait=0.0s  (pre max|Δ|=7.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.53° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.5  +6.0  -2.0  -0.3  -7.1  -0.4  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -41.15,  +68.05,   -0.58,   +1.82,  -66.81,  -30.49]  speed=20 wait=0.0s  (pre max|Δ|=3.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.45° (tol 3.0°)
       [VIA   ] step  8  Δ= -2.6  +3.4  -1.6  -0.0  -3.5  -0.3  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -41.37,  +68.93,   -0.52,   +1.88,  -67.18,  -30.51]  speed=20 wait=0.0s  (pre max|Δ|=1.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.31° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.2  -0.2  -1.3  -0.1  -0.6  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.31°（関節 j2）
[003] 推論 1548ms  10ステップ先  Δ= +0.3  +5.5  -2.5  -0.4  -3.2  -0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk003_via02: send_angles (single) [ -41.12,  +70.45,   -0.75,   +1.78,  -67.87,  -30.48]  speed=20 wait=0.0s  (pre max|Δ|=1.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.54° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.1  +0.5  -1.5  -0.3  -0.9  -0.3  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -40.86,  +72.82,   -1.14,   +1.72,  -68.85,  -30.44]  speed=20 wait=0.0s  (pre max|Δ|=1.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.18° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  +1.2  -1.8  -0.4  -0.7  -0.3  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -40.61,  +74.92,   -1.59,   +1.66,  -69.76,  -30.39]  speed=20 wait=0.0s  (pre max|Δ|=1.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.16° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  +0.9  -1.5  -0.4  -1.0  -0.3  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -40.70,  +75.44,   -1.72,   +1.67,  -70.13,  -30.40]  speed=20 wait=0.0s  (pre max|Δ|=1.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.11° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -0.6  -1.1  -0.4  -0.3  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.11°（関節 j2）
[004] 推論 552ms  9ステップ先  Δ= +1.1  +5.4  -2.3  -0.5  -5.3  -0.2  グリッパー→閉
       [VIA   ] 中継点 3 点: step 2, 5, 8
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ -40.45,  +79.43,   -2.31,   +1.61,  -72.58,  -30.36]  speed=20 wait=0.0s  (pre max|Δ|=2.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.26° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  +3.0  -1.7  -0.5  -2.7  -0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -40.24,  +81.91,   -2.83,   +1.57,  -74.50,  -30.37]  speed=20 wait=0.0s  (pre max|Δ|=1.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.14° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.8  +1.7  -1.3  -0.5  -0.6  -0.2  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -39.92,  +81.86,   -2.88,   +1.59,  -75.16,  -30.36]  speed=20 wait=0.0s  (pre max|Δ|=1.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.48° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7  -0.7  -0.6  -0.4  +1.5  -0.2  着いた
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
[STATE ] 目標を渡す  目標と実測の最大差 2.44°（関節 j4）
[005] 推論 554ms  10ステップ先  Δ= +0.3 -11.6  +0.8  +0.1  +9.1  -0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk005_via02: send_angles (single) [ -39.70,  +79.66,   -2.63,   +1.57,  -74.18,  -30.37]  speed=20 wait=0.0s  (pre max|Δ|=3.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.02° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  -3.0  -0.3  -0.1  +3.4  -0.2  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -39.86,  +76.25,   -2.18,   +1.60,  -71.71,  -30.37]  speed=20 wait=0.0s  (pre max|Δ|=5.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.41° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -5.3  +0.1  -0.2  +4.5  -0.2  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -39.94,  +72.23,   -1.67,   +1.70,  -69.07,  -30.35]  speed=20 wait=0.0s  (pre max|Δ|=6.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.65° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.2  -6.3  +0.6  -0.1  +2.6  -0.0  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -39.87,  +71.06,   -1.51,   +1.75,  -68.48,  -30.35]  speed=20 wait=0.0s  (pre max|Δ|=3.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.59° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.3  -3.3  -0.4  -0.2  -0.0  -0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.59°（関節 j1）
[006] 推論 1549ms  10ステップ先  Δ=+21.8 -14.2  +3.8  +3.0  +3.4  -0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk006_via02: send_angles (single) [ -37.22,  +67.51,   -0.74,   +2.37,  -67.38,  -30.40]  speed=20 wait=0.0s  (pre max|Δ|=6.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.27° (tol 3.0°)
       [VIA   ] step  2  Δ= +2.9  -6.1  +0.4  +0.4  +0.6  -0.2  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -29.52,  +64.29,   +0.56,   +3.43,  -66.26,  -30.43]  speed=20 wait=0.0s  (pre max|Δ|=7.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.50° (tol 3.0°)
       [VIA   ] step  5  Δ= +7.7  -5.3  +0.8  +1.5  +1.4  -0.1  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -20.65,  +60.45,   +2.20,   +4.60,  -64.91,  -30.52]  speed=20 wait=0.0s  (pre max|Δ|=9.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.65° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.1  -6.2  +1.1  +2.5  +1.8  -0.2  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -18.39,  +59.40,   +2.62,   +4.90,  -64.53,  -30.59]  speed=20 wait=0.0s  (pre max|Δ|=3.70°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.4  -3.7  -0.1  +0.7  +0.6  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.21°（関節 j1）
[007] 推論 550ms  10ステップ先  Δ=+29.4 -12.4  +4.7  +2.5  +4.3  -0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk007_via02: send_angles (single) [  -9.81,  +56.88,   +3.87,   +6.02,  -63.52,  -30.66]  speed=20 wait=0.0s  (pre max|Δ|=8.64°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.44° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.6  -4.7  +0.7  +1.3  +1.1  -0.3  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [  -1.30,  +53.79,   +5.54,   +6.82,  -62.19,  -30.65]  speed=20 wait=0.0s  (pre max|Δ|=8.71°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.54° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.7  -5.5  +1.0  +1.2  +1.5  -0.3  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [  +8.02,  +50.22,   +7.34,   +7.22,  -60.61,  -30.70]  speed=20 wait=0.0s  (pre max|Δ|=9.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.42° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.4  -6.1  +1.1  +0.8  +1.9  -0.4  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +10.86,  +49.19,   +7.82,   +7.16,  -60.29,  -30.71]  speed=20 wait=0.0s  (pre max|Δ|=3.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.31° (tol 3.0°)
       [VIA   ] step  9  Δ= +3.0  -3.5  -0.2  +0.2  +0.5  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.31°（関節 j1）
[008] 推論 575ms  10ステップ先  Δ=+29.3  -9.0  +2.3  +0.5  +6.4  -0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk008_via02: send_angles (single) [ +19.87,  +47.36,   +7.93,   +7.19,  -57.95,  -30.75]  speed=20 wait=0.0s  (pre max|Δ|=8.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.38° (tol 3.0°)
       [VIA   ] step  2  Δ= +9.0  -4.1  -0.1  +0.1  +2.6  -0.4  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +29.36,  +45.06,   +8.34,   +7.33,  -55.62,  -30.77]  speed=20 wait=0.0s  (pre max|Δ|=9.68°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.48° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.7  -4.7  +0.3  +0.3  +2.7  -0.5  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +38.50,  +42.72,   +9.78,   +7.49,  -54.31,  -30.80]  speed=20 wait=0.0s  (pre max|Δ|=8.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.28° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.0  -4.8  +1.8  +0.3  +1.5  -0.5  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +40.23,  +42.53,  +10.27,   +7.48,  -54.13,  -30.81]  speed=20 wait=0.0s  (pre max|Δ|=2.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.47° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.6  -2.5  -0.0  +0.0  +0.5  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.47°（関節 j1）
[009] 推論 1520ms  10ステップ先  Δ= +2.0 +15.2  -6.1  +1.5 -12.4  -0.7
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk009_via02: send_angles (single) [ +41.57,  +47.09,   +9.06,   +7.49,  -56.62,  -30.83]  speed=20 wait=0.0s  (pre max|Δ|=2.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.5  +2.1  -1.8  -0.2  -2.2  -0.5  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +41.98,  +53.39,   +7.07,   +8.16,  -61.43,  -30.88]  speed=20 wait=0.0s  (pre max|Δ|=6.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.11° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  +5.1  -3.7  +0.3  -6.8  -0.6  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +42.12,  +58.99,   +5.14,   +9.09,  -66.05,  -30.96]  speed=20 wait=0.0s  (pre max|Δ|=6.73°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.77° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.7  +4.4  -3.4  +1.2  -6.7  -0.6  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +42.12,  +60.23,   +4.67,   +9.26,  -66.79,  -30.98]  speed=20 wait=0.0s  (pre max|Δ|=2.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.0  +0.2  -1.8  +1.1  -2.5  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.39°（関節 j2）
[010] 推論 580ms  7ステップ先  Δ= +0.0  +1.3  -2.2  +1.3  -3.5  -0.4  グリッパー→開
       [VIA   ] 中継点 3 点: step 2, 5, 6
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk010_via02: send_angles (single) [ +42.12,  +62.57,   +3.86,   +9.63,  -68.60,  -31.01]  speed=20 wait=0.0s  (pre max|Δ|=2.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.06° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.0  +1.3  -2.2  +0.8  -2.5  -0.3  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +42.12,  +62.54,   +3.86,   +9.73,  -69.62,  -31.03]  speed=20 wait=0.0s  (pre max|Δ|=1.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.06° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.1  -1.0  -1.1  +0.4  -0.9  -0.4  着いた
[SEND] pi05_chunk010_via06: send_angles (single) [ +42.12,  +62.54,   +3.86,   +9.73,  -69.62,  -31.03]  speed=20 wait=0.0s  (pre max|Δ|=1.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.06° (tol 3.0°)
       [VIA   ] step  6  Δ= -0.1  -1.0  -1.1  +0.4  -0.9  -0.4  着いた
  [Pi] GRIPPER: OPEN result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.06°（関節 j2）
[011] 推論 557ms  10ステップ先  Δ= +0.6 -16.1  +3.2  -1.2  +8.5  -0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk011_via02: send_angles (single) [ +42.29,  +61.47,   +4.06,   +9.52,  -69.40,  -30.99]  speed=20 wait=0.0s  (pre max|Δ|=2.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.07° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.0  -2.1  -0.9  +0.1  -0.7  -0.3  着いた
[SEND] pi05_chunk011_via05: send_angles (single) [ +42.63,  +55.55,   +5.66,   +8.84,  -65.78,  -30.98]  speed=20 wait=0.0s  (pre max|Δ|=7.99°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.68° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  -8.0  +0.7  -0.6  +3.0  -0.3  着いた
[SEND] pi05_chunk011_via08: send_angles (single) [ +42.81,  +49.19,   +7.67,   +8.33,  -61.56,  -30.97]  speed=20 wait=0.0s  (pre max|Δ|=8.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.16° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -8.5  +1.4  -1.6  +6.9  -0.3  着いた
[SEND] pi05_chunk011_via09: send_angles (single) [ +42.84,  +47.47,   +8.16,   +8.21,  -60.22,  -30.98]  speed=20 wait=0.0s  (pre max|Δ|=3.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.27° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.7  -3.8  -0.1  -1.3  +3.5  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.27°（関節 j1）
[012] 推論 1529ms  10ステップ先  Δ=-10.0 -21.5  +2.0  -4.2 +21.8  -0.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk012_via02: send_angles (single) [ +42.41,  +40.87,  +10.47,   +7.52,  -56.26,  -30.86]  speed=20 wait=0.0s  (pre max|Δ|=8.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.19° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.4  -8.9  +1.8  -1.3  +5.0  -0.2  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +40.58,  +34.85,  +11.79,   +6.58,  -50.52,  -30.74]  speed=20 wait=0.0s  (pre max|Δ|=8.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.06° (tol 3.0°)
       [VIA   ] step  5  Δ= -2.1  -8.2  +0.6  -1.4  +6.4  -0.1  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +34.82,  +29.62,  +11.04,   +5.36,  -42.50,  -30.68]  speed=20 wait=0.0s  (pre max|Δ|=8.65°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.10° (tol 3.0°)
       [VIA   ] step  8  Δ= -6.0  -7.3  -1.3  -1.5  +8.7  -0.0  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +32.82,  +28.24,  +10.73,   +5.01,  -40.20,  -30.67]  speed=20 wait=0.0s  (pre max|Δ|=3.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.99° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.4  -3.5  -1.6  -0.7  +3.0  -0.0  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.99°（関節 j1）
[013] 推論 555ms  10ステップ先  Δ=-19.4 -18.2  -5.6  -4.5 +29.3  +0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > p
objc[5037]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d2c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d608e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d3b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d609d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60a20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60a98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d4d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60ae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60b38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60b88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d5c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60bb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d5e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60bd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60c50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60cc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60d18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60d40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5037]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x128d60d90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x14998d7c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
  from pkg_resources import resource_stream, resource_exists
[PAD   ] 補正 1 (推論 13 のあと). ゲームパッドで直して, □ で推論に戻ります
コントローラーを待っています（つないでいなければ、今つないでください）。□ で推論に戻ります
[接続] PS4 Controller  GUID=03008fe54c050000cc09000000016800  軸=6  ボタン=16
[止める] stop（released_while_sending）  止まった角度 +32.95 +36.12 +13.00 +5.00 -38.58 -30.58
[止める] stop（released_while_sending）  止まった角度 None
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[送信] j0 -1.0° → +46.98 +36.12 +12.30 +5.09 -40.69 -30.58  届いた（ずれ 1.32°）  届いた角度 +46.84 +37.44 +12.39 +5.18 -39.46 -30.58
[送信] j0 -2.0° → +44.98 +36.12 +12.30 +5.09 -40.69 -30.58  届いた（ずれ 1.32°）  届いた角度 +44.82 +37.44 +12.39 +4.65 -39.46 -30.58
[止める] stop（released_while_sending）  止まった角度 +38.14 +38.75 +13.18 +4.65 -37.88 -30.58
[送信] j0 +2.0° → +40.14 +36.12 +12.30 +5.09 -40.69 -30.58  届いた（ずれ 2.55°）  届いた角度 +40.60 +38.49 +12.21 +4.30 -38.14 -30.67
[関節] 上下で動かす関節を j2 にしました
[関節] 上下で動かす関節を j3 にしました
[関節] 上下で動かす関節を j4 にしました
[送信] j4 -1.0° → +40.14 +36.12 +12.30 +5.09 -41.69 -30.58  届いた（ずれ 2.37°）  届いた角度 +40.42 +38.49 +12.21 +5.27 -41.92 -30.58
[長押し] j4 を -41.92° → -41.92° まで（目標を 1 回送信。止めます）
[長押し] j4 を -49.39° → -49.39° まで（目標を 1 回送信。止めます）
[関節] 上下で動かす関節を j5 にしました
[関節] 上下で動かす関節を j1 にしました
[送信] j1 +1.0° → +40.14 +40.46 +12.30 +5.09 -59.58 -30.58  手前で止まった（次の押しは この目標の先から）（ずれ 4.14°）  届いた角度 +40.25 +41.66 +11.95 +5.71 -63.72 -30.58
[止める] stop（released_while_sending）  止まった角度 +40.25 +47.54 +12.65 +5.62 -61.87 -30.58
[送信] j1 +1.0° → +40.14 +48.54 +12.30 +5.09 -59.58 -30.58  手前で止まった（次の押しは この目標の先から）（ずれ 2.64°）  届いた角度 +40.16 +49.74 +12.30 +5.71 -62.22 -30.58
  [Pi] GRIPPER: OPEN result= None
[爪] 爪を開く（待ち 0.8 秒のあと受付）
^C[PAD   ] 補正 1 を終えました (53.7 秒, 送った目標 12 回, 爪を動かした). この姿勢から推論に戻ります

[STOP  ] Ctrl-C
[RECORD] 記録終了 コマ 1160 (8.607 fps) 実測角 1035 回 (7.68 Hz)  電流 1059 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112639/recording
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112639
[CLIENT] run_policy_client.py が終わった (終了コード 0. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1))
    (138 秒)
もう1回やりますか? y=やる / 他=終わる > y

=== 7. HOME → 爪を開く → 位置合わせ (3 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [40.16, 49.74, 12.30, 5.18, -64.16, -30.58]
[SEND] HOME へ移動指令
[WAIT] t=0.7s  max_err=48.95°
[WAIT] t=1.2s  max_err=33.22°
[WAIT] t=1.7s  max_err=17.40°
[WAIT] t=2.2s  max_err=2.46°
[DONE] HOME 到達 max_err=2.46°
[POST] 最終姿勢: [0.17, 1.40, 1.93, -0.79, -2.46, -30.49]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= None
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy=  +8.4  dx=  -2.8  response=0.734  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (24 秒)

=== 8. 実機推論 (3 回目)
[WAIT  ] 送ったあと 0.0s / 爪のあと 0.8s (開くときの daemon 0.0s) / 止まるのを待つ目安 0.8s
[SAFE  ] 安全範囲 (学習 50 本 ±10°): j0[-72,+55]  j1[-9,+88]  j2[-45,+52]  j3[-18,+27]  j4[-87,+10]  j5[-51,-15]
[SAFE  ] 肩 j1 の上限は J1_SAFE_MAX=88° で切った (これを超える指令はアームが黙って捨てる / LOG352)  元データ: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes
[MODE  ] EXECUTE  steps/chunk=10  max_move=20.0°  log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112924
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=+1.8 dx=+3.8 response=0.662 → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[CAMERA] 基準: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_183454/frames/000000.jpg
[POLICY] 接続 ws://localhost:8000  metadata={}
[RECORD] 上カメラと実測角を 1 秒 10 コマで記録します → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112924/recording
[GRIP  ] 開始時のグリッパー開放は, 最初の目標が検査を通ってから行います (爪が閉じていたら手で開けておく)
[STATE ] 実測を渡す (直前に送った目標がない)
[000] 推論 590ms  10ステップ先  Δ=-12.5 +19.6  +0.8  -0.0 -21.9  +0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[GRIP  ] 開始時にグリッパーを開く
  [Pi] GRIPPER: OPEN result= None
[SEND] pi05_chunk000_via02: send_angles (single) [  -3.19,   +5.19,   +2.06,   -0.16,   -4.67,  -30.22]  speed=20 wait=0.0s  (pre max|Δ|=4.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.04° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.8  +3.9  +0.1  +0.1  -4.4  +0.0  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -7.18,  +11.52,   +2.31,   -0.16,  -11.74,  -30.20]  speed=20 wait=0.0s  (pre max|Δ|=9.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.81° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.7  +5.5  -0.6  +0.0  -9.1  +0.0  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -11.53,  +18.58,   +2.69,   -0.25,  -19.82,  -30.17]  speed=20 wait=0.0s  (pre max|Δ|=9.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.33° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.7  +6.1  -0.3  -0.5  -9.8  +0.1  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -12.81,  +20.93,   +2.70,   -0.26,  -22.20,  -30.15]  speed=20 wait=0.0s  (pre max|Δ|=3.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.13° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.8  +1.3  -0.7  -0.5  -3.8  +0.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.13°（関節 j1）
[001] 推論 759ms  10ステップ先  Δ=-16.0 +23.3  -0.1  +0.1 -29.1  +0.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [ -17.73,  +27.71,   +2.92,   +0.04,  -30.17,  -30.14]  speed=20 wait=0.0s  (pre max|Δ|=8.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.65° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.1  +5.7  -0.5  -0.0  -8.2  -0.0  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -22.73,  +35.50,   +3.33,   +0.49,  -39.11,  -30.12]  speed=20 wait=0.0s  (pre max|Δ|=8.79°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.15° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.1  +6.7  -0.1  +0.8  -8.8  +0.0  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -27.60,  +43.21,   +3.46,   +0.53,  -48.24,  -30.10]  speed=20 wait=0.0s  (pre max|Δ|=9.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.17° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.2  +6.6  -0.5  +0.4  -9.4  -0.4  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -28.62,  +45.35,   +3.32,   +0.51,  -50.31,  -30.11]  speed=20 wait=0.0s  (pre max|Δ|=2.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.23° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.5  +1.0  -0.6  +0.3  -2.4  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.23°（関節 j1）
[002] 推論 568ms  10ステップ先  Δ=-11.6 +18.3  -0.3  +1.0 -18.0  -0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ -34.77,  +53.62,   +3.52,   +0.24,  -60.31,  -30.08]  speed=20 wait=0.0s  (pre max|Δ|=9.69°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.13° (tol 3.0°)
       [VIA   ] step  2  Δ= -6.4  +7.0  -0.4  +0.2  -9.7  -0.4  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -38.91,  +60.60,   +3.52,   +0.59,  -67.73,  -30.06]  speed=20 wait=0.0s  (pre max|Δ|=8.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.59° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.0  +5.9  -0.4  +0.2  -8.1  -0.4  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -40.35,  +64.41,   +3.54,   +1.15,  -69.43,  -30.04]  speed=20 wait=0.0s  (pre max|Δ|=2.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.68° (tol 3.0°)
       [VIA   ] step  8  Δ= -1.1  +2.6  -0.4  +0.0  -1.9  -0.3  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -40.20,  +64.89,   +3.63,   +1.26,  -68.62,  -30.09]  speed=20 wait=0.0s  (pre max|Δ|=0.76°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.94° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -0.8  -0.3  +0.1  +0.4  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 0.94°（関節 j1）
[003] 推論 1594ms  10ステップ先  Δ= -0.0  +4.8  -0.9  +0.1  -4.3  -0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
       [VIA   ] step  2  Δ= -0.1  -0.5  -0.4  +0.2  -0.5  -0.3  送らず (0.5° 以下)
[SEND] pi05_chunk003_via05: send_angles (single) [ -40.83,  +67.00,   +3.43,   +1.18,  -71.01,  -30.10]  speed=20 wait=0.0s  (pre max|Δ|=1.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.11° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.1  +1.2  -0.5  +0.1  -1.9  -0.3  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -40.71,  +69.98,   +3.15,   +1.13,  -72.90,  -30.08]  speed=20 wait=0.0s  (pre max|Δ|=2.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.12° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.0  +1.9  -0.8  +0.1  -2.5  -0.3  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -40.70,  +70.67,   +3.01,   +1.11,  -73.39,  -30.07]  speed=20 wait=0.0s  (pre max|Δ|=1.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.04° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.0  -0.5  -0.9  +0.1  -1.2  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.04°（関節 j1）
[004] 推論 621ms  9ステップ先  Δ= +0.3  +6.0  -1.5  -0.1  -3.6  -0.2  グリッパー→閉
       [VIA   ] 中継点 3 点: step 2, 5, 8
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ -40.49,  +74.91,   +2.60,   +1.04,  -74.73,  -30.02]  speed=20 wait=0.0s  (pre max|Δ|=3.11°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.26° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  +3.1  -1.3  -0.1  -2.1  -0.2  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -40.54,  +77.33,   +2.31,   +1.01,  -75.75,  -30.00]  speed=20 wait=0.0s  (pre max|Δ|=1.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.11° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.1  +1.4  -1.6  -0.1  -1.0  -0.2  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -40.36,  +77.73,   +2.35,   +1.04,  -76.17,  -30.01]  speed=20 wait=0.0s  (pre max|Δ|=0.98°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=0.98° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.3  -0.5  -1.0  -0.1  +0.3  -0.2  着いた
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.43°（関節 j4）
[005] 推論 757ms  10ステップ先  Δ= +0.6 -10.8  +0.2  +0.5  +7.4  -0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk005_via02: send_angles (single) [ -40.32,  +75.21,   +2.54,   +1.03,  -74.81,  -30.01]  speed=20 wait=0.0s  (pre max|Δ|=3.36°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.48° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.4  -3.4  -0.8  +0.2  +2.9  -0.2  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -40.43,  +72.24,   +2.82,   +1.07,  -72.90,  -30.00]  speed=20 wait=0.0s  (pre max|Δ|=5.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.37° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.3  -5.5  -0.5  +0.0  +3.8  -0.2  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -40.33,  +68.76,   +3.34,   +1.18,  -70.63,  -29.98]  speed=20 wait=0.0s  (pre max|Δ|=5.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.16° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.4  -5.5  +0.0  +0.0  +3.9  -0.2  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -40.08,  +67.80,   +3.57,   +1.24,  -70.18,  -29.98]  speed=20 wait=0.0s  (pre max|Δ|=3.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.95° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -3.1  +0.2  +0.1  +1.9  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.86°（関節 j1）
[006] 推論 1558ms  10ステップ先  Δ=+24.4 -13.5  +4.8  +3.6  +5.2  -0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk006_via02: send_angles (single) [ -33.99,  +64.96,   +4.77,   +2.14,  -68.80,  -30.04]  speed=20 wait=0.0s  (pre max|Δ|=6.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.54° (tol 3.0°)
       [VIA   ] step  2  Δ= +6.1  -5.7  +1.4  +0.9  +2.2  -0.2  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -26.42,  +61.85,   +6.20,   +3.29,  -67.77,  -30.04]  speed=20 wait=0.0s  (pre max|Δ|=7.85°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.39° (tol 3.0°)
       [VIA   ] step  5  Δ= +7.9  -5.7  +1.0  +1.3  +1.6  -0.2  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -18.44,  +58.45,   +7.70,   +4.44,  -66.86,  -30.08]  speed=20 wait=0.0s  (pre max|Δ|=8.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.45° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.3  -5.8  +0.9  +1.3  +1.5  -0.3  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -15.71,  +57.12,   +8.15,   +4.80,  -66.28,  -30.12]  speed=20 wait=0.0s  (pre max|Δ|=3.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.29° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.9  -3.8  -0.0  +0.6  +1.0  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.29°（関節 j1）
[007] 推論 562ms  10ステップ先  Δ=+28.4 -13.4  +4.9  +2.0  +4.8  -0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk007_via02: send_angles (single) [  -7.15,  +53.91,   +9.56,   +5.82,  -64.98,  -30.11]  speed=20 wait=0.0s  (pre max|Δ|=8.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.86° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.6  -5.5  +0.9  +1.2  +1.6  -0.3  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [  +1.31,  +50.46,  +11.29,   +6.38,  -63.70,  -30.08]  speed=20 wait=0.0s  (pre max|Δ|=8.34°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.36° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.3  -5.9  +1.4  +1.6  +1.6  -0.3  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +10.14,  +46.97,  +13.12,   +6.61,  -62.35,  -30.11]  speed=20 wait=0.0s  (pre max|Δ|=9.18°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.60° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.2  -5.8  +1.4  +0.5  +1.7  -0.3  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +12.64,  +46.04,  +13.55,   +6.56,  -61.80,  -30.13]  speed=20 wait=0.0s  (pre max|Δ|=3.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.82° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.7  -3.5  -0.2  +0.3  +0.9  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.12°（関節 j1）
[008] 推論 704ms  10ステップ先  Δ=+27.8 -12.3  +4.9  +0.1  +5.0  -0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk008_via02: send_angles (single) [ +21.28,  +42.87,  +14.85,   +6.80,  -60.40,  -30.13]  speed=20 wait=0.0s  (pre max|Δ|=8.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.39° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.6  -5.3  +0.9  +0.3  +1.7  -0.3  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +30.21,  +39.29,  +16.80,   +6.80,  -58.83,  -30.11]  speed=20 wait=0.0s  (pre max|Δ|=8.86°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.63° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.9  -6.0  +1.4  +0.2  +1.9  -0.3  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +39.08,  +35.95,  +18.71,   +6.51,  -57.43,  -30.11]  speed=20 wait=0.0s  (pre max|Δ|=9.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.28° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.0  -6.0  +1.2  -0.3  +1.6  -0.3  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +40.67,  +35.83,  +18.90,   +6.30,  -57.12,  -30.11]  speed=20 wait=0.0s  (pre max|Δ|=2.40°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.40° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.7  -2.4  -0.4  -0.0  +0.6  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.40°（関節 j1）
[009] 推論 1566ms  10ステップ先  Δ= +2.1 +17.8  -8.4  +3.0 -12.2  -0.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk009_via02: send_angles (single) [ +42.33,  +40.48,  +17.56,   +6.90,  -59.85,  -30.15]  speed=20 wait=0.0s  (pre max|Δ|=2.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.29° (tol 3.0°)
       [VIA   ] step  2  Δ= +1.6  +2.2  -1.8  +0.4  -2.4  -0.4  着いた
[SEND] pi05_chunk009_via05: send_angles (single) [ +42.86,  +48.09,  +14.43,   +8.24,  -64.86,  -30.17]  speed=20 wait=0.0s  (pre max|Δ|=7.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.94° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  +6.5  -4.9  +1.6  -7.3  -0.4  着いた
[SEND] pi05_chunk009_via08: send_angles (single) [ +42.83,  +54.71,  +11.63,   +9.18,  -69.13,  -30.19]  speed=20 wait=0.0s  (pre max|Δ|=6.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.55° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.6  +5.5  -4.2  +1.5  -6.2  -0.4  着いた
[SEND] pi05_chunk009_via09: send_angles (single) [ +42.81,  +56.05,  +10.94,   +9.37,  -69.70,  -30.20]  speed=20 wait=0.0s  (pre max|Δ|=2.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.62° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.5  +0.2  -1.9  +0.9  -2.1  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.54°（関節 j2）
[010] 推論 589ms  10ステップ先  Δ= +0.7  +4.6  -3.7  +1.6  -7.4  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk010_via02: send_angles (single) [ +42.72,  +60.67,   +8.92,  +10.21,  -72.60,  -30.24]  speed=20 wait=0.0s  (pre max|Δ|=4.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.71° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  +3.5  -3.6  +1.3  -4.3  -0.5  着いた
[SEND] pi05_chunk010_via05: send_angles (single) [ +42.74,  +61.78,   +8.63,  +10.58,  -74.44,  -30.28]  speed=20 wait=0.0s  (pre max|Δ|=2.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.38° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.5  +0.1  -1.5  +0.9  -2.6  -0.3  着いた
[SEND] pi05_chunk010_via08: send_angles (single) [ +42.85,  +61.99,   +8.66,  +10.63,  -75.24,  -30.33]  speed=20 wait=0.0s  (pre max|Δ|=1.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.35° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -0.8  -1.4  +0.6  -1.2  -0.4  着いた
[SEND] pi05_chunk010_via09: send_angles (single) [ +42.93,  +61.73,   +8.77,  +10.61,  -75.68,  -30.40]  speed=20 wait=0.0s  (pre max|Δ|=1.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.24° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.6  -1.2  -1.2  +0.6  -1.5  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.24°（関節 j2）
[011] 推論 742ms  1ステップ先  Δ= +0.0  +0.0  +0.0  +0.0  +0.0  +0.0  グリッパー→開
       [VIA   ] 中継点 1 点: step 0
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
       [VIA   ] step  0  Δ= +0.0  +0.0  +0.0  -0.1  +0.0  +0.0  送らず (0.5° 以下)
  [Pi] GRIPPER: OPEN result= None
[STATE ] 実測を渡す (直前に送った目標がない)
[012] 推論 583ms  10ステップ先  Δ= +1.9 -19.1  +6.1  -2.6 +13.1  -0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk012_via02: send_angles (single) [ +42.69,  +60.68,  +10.89,  +10.20,  -76.95,  -30.16]  speed=20 wait=0.0s  (pre max|Δ|=2.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.24° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -2.2  +0.9  -0.2  +0.1  -0.2  着いた
[SEND] pi05_chunk012_via05: send_angles (single) [ +43.22,  +53.20,  +13.37,   +9.05,  -71.91,  -30.20]  speed=20 wait=0.0s  (pre max|Δ|=9.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.79° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.9  -9.7  +2.2  -1.3  +5.2  -0.2  着いた
[SEND] pi05_chunk012_via08: send_angles (single) [ +44.13,  +46.10,  +15.57,   +8.11,  -66.24,  -30.25]  speed=20 wait=0.0s  (pre max|Δ|=9.27°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.22° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.0  -9.3  +1.8  -2.1  +8.5  -0.3  着いた
[SEND] pi05_chunk012_via09: send_angles (single) [ +44.27,  +43.84,  +16.07,   +7.80,  -63.97,  -30.26]  speed=20 wait=0.0s  (pre max|Δ|=4.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.86° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -4.3  -0.0  -1.2  +4.5  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.86°（関節 j1）
[013] 推論 563ms  10ステップ先  Δ=-13.1 -19.8  -1.0  -4.5 +25.4  -0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk013_via02: send_angles (single) [ +43.63,  +37.46,  +18.01,   +7.00,  -59.57,  -30.24]  speed=20 wait=0.0s  (pre max|Δ|=8.24°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.91° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.2  -8.2  +1.6  -1.5  +5.8  -0.3  着いた
[SEND] pi05_chunk013_via05: send_angles (single) [ +39.65,  +32.24,  +17.74,   +5.85,  -52.47,  -30.21]  speed=20 wait=0.0s  (pre max|Δ|=8.35°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.03° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.2  -7.1  -0.8  -1.8  +8.3  -0.2  着いた
[SEND] pi05_chunk013_via08: send_angles (single) [ +32.72,  +27.23,  +15.99,   +4.49,  -43.01,  -30.19]  speed=20 wait=0.0s  (pre max|Δ|=10.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.86° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.3  -7.0  -2.6  -1.8 +10.5  -0.2  着いた
[SEND] pi05_chunk013_via09: send_angles (single) [ +30.70,  +25.90,  +15.45,   +4.15,  -40.38,  -30.18]  speed=20 wait=0.0s  (pre max|Δ|=3.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.2  -3.2  -2.2  -0.8  +3.5  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.21°（関節 j2）
[014] 推論 1573ms  10ステップ先  Δ=-20.6 -17.2 -10.1  -4.9 +31.1  -0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk014_via02: send_angles (single) [ +24.95,  +21.61,  +13.77,   +2.78,  -32.27,  -30.17]  speed=20 wait=0.0s  (pre max|Δ|=8.77°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.7  -6.2  -3.9  -1.7  +8.8  -0.2  着いた
[SEND] pi05_chunk014_via05: send_angles (single) [ +18.93,  +16.92,  +11.57,   +1.22,  -23.17,  -30.21]  speed=20 wait=0.0s  (pre max|Δ|=9.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.88° (tol 3.0°)
       [VIA   ] step  5  Δ= -6.5  -6.5  -4.0  -1.9  +9.6  -0.2  着いた
[SEND] pi05_chunk014_via08: send_angles (single) [ +12.01,  +11.68,   +8.43,   -0.15,  -12.68,  -30.23]  speed=20 wait=0.0s  (pre max|Δ|=10.87°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.67° (tol 3.0°)
       [VIA   ] step  8  Δ= -7.4  -7.1  -4.9  -1.6 +10.9  -0.3  着いた
[SEND] pi05_chunk014_via09: send_angles (single) [ +10.12,  +10.56,   +7.52,   -0.41,  -10.00,  -30.23]  speed=20 wait=0.0s  (pre max|Δ|=3.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.14° (tol 3.0°)
       [VIA   ] step  9  Δ= -2.3  -2.7  -2.6  -0.6  +3.1  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.88°（関節 j2）
[015] 推論 603ms  10ステップ先  Δ= -8.4  -7.7  -6.3  -0.4  +9.0  -0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk015_via02: send_angles (single) [  +5.40,   +6.57,   +5.21,   -0.47,   -3.86,  -30.26]  speed=20 wait=0.0s  (pre max|Δ|=6.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.55° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.5  -5.6  -4.2  -0.3  +6.4  -0.3  着いた
[SEND] pi05_chunk015_via05: send_angles (single) [  +2.43,   +4.57,   +3.79,   -0.54,   -1.21,  -30.26]  speed=20 wait=0.0s  (pre max|Δ|=3.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.74° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.2  -3.4  -3.0  -0.3  +3.1  -0.3  着いた
[SEND] pi05_chunk015_via08: send_angles (single) [  +1.59,   +4.45,   +3.22,   -0.52,   -1.18,  -30.26]  speed=20 wait=0.0s  (pre max|Δ|=2.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.31° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.8  -1.6  -2.3  -0.3  +0.3  -0.3  着いた
[SEND] pi05_chunk015_via09: send_angles (single) [  +1.55,   +4.54,   +3.15,   -0.55,   -1.29,  -30.28]  speed=20 wait=0.0s  (pre max|Δ|=2.21°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.21° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.5  -1.5  -2.2  -0.3  +0.2  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.21°（関節 j2）
[016] 推論 1762ms  10ステップ先  Δ= -1.8  -2.0  -2.4  -0.3  +0.3  -0.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > h
[SEND] pi05_home: send_angles (single) [  +0.00,   +0.00,   +0.00,   +0.00,   +0.00,  -30.00]  speed=20 wait=0.0s  (pre max|Δ|=6.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.23° (tol 2.5°)
[RECORD] 記録終了 コマ 1016 (8.863 fps) 実測角 1004 回 (8.76 Hz)  電流 1014 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112924/recording
       結果: y=成功 / n=失敗 / Enter=記録しない > y
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112924
[CLIENT] run_policy_client.py が終わった (終了コード 0. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1))
    (120 秒)
もう1回やりますか? y=やる / 他=終わる > y

=== 7. HOME → 爪を開く → 位置合わせ (4 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.17, 1.14, 1.23, -0.35, -0.26, -29.97]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=1.23°
[DONE] HOME 到達 max_err=1.23°
[POST] 最終姿勢: [-0.17, 1.14, 1.23, -0.35, -0.26, -29.97]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= None
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy=  +8.7  dx=  -2.1  response=0.766  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)

^C
[STOP  ] Ctrl-C
[DONE  ] 終了 (何も書いていません)
    (184 秒)

=== 8. 実機推論 (4 回目)
[WAIT  ] 送ったあと 0.0s / 爪のあと 0.8s (開くときの daemon 0.0s) / 止まるのを待つ目安 0.8s
[SAFE  ] 安全範囲 (学習 50 本 ±10°): j0[-72,+55]  j1[-9,+88]  j2[-45,+52]  j3[-18,+27]  j4[-87,+10]  j5[-51,-15]
[SAFE  ] 肩 j1 の上限は J1_SAFE_MAX=88° で切った (これを超える指令はアームが黙って捨てる / LOG352)  元データ: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes
[MODE  ] EXECUTE  steps/chunk=10  max_move=20.0°  log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113433
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=+2.0 dx=+4.2 response=0.595 → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[CAMERA] 基準: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_183454/frames/000000.jpg
[POLICY] 接続 ws://localhost:8000  metadata={}
[RECORD] 上カメラと実測角を 1 秒 10 コマで記録します → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113433/recording
[GRIP  ] 開始時のグリッパー開放は, 最初の目標が検査を通ってから行います (爪が閉じていたら手で開けておく)
[STATE ] 実測を渡す (直前に送った目標がない)
[000] 推論 984ms  10ステップ先  Δ=-11.6 +21.0  -3.1  +2.5 -19.7  -1.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[GRIP  ] 開始時にグリッパーを開く
  [Pi] GRIPPER: OPEN result= None
[SEND] pi05_chunk000_via02: send_angles (single) [  -2.63,   +4.74,   +0.78,   +0.06,   -3.47,  -30.33]  speed=20 wait=0.0s  (pre max|Δ|=3.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.07° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.4  +3.6  -0.5  +0.3  -3.2  -0.4  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -6.41,  +11.61,   -0.16,   +0.90,  -10.43,  -30.87]  speed=20 wait=0.0s  (pre max|Δ|=9.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.56° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.6  +6.1  -1.4  +1.1  -9.0  -0.9  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -10.58,  +19.71,   -1.48,   +1.97,  -17.75,  -31.38]  speed=20 wait=0.0s  (pre max|Δ|=8.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.83° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.4  +7.1  -2.7  +1.1  -8.9  -1.3  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -11.89,  +22.11,   -1.87,   +2.24,  -19.92,  -31.54]  speed=20 wait=0.0s  (pre max|Δ|=3.49°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.22° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.7  +1.3  -2.2  +0.5  -3.5  -0.9  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.22°（関節 j2）
[001] 推論 970ms  10ステップ先  Δ=-14.9 +28.1  -8.2  +3.2 -28.6  -1.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [ -16.61,  +30.51,   -3.42,   +3.50,  -27.63,  -31.99]  speed=20 wait=0.0s  (pre max|Δ|=8.83°, post-send timeout 8.0s)
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[SEND] arrival OK: max|Δ|=1.76° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.6  +7.5  -3.8  +1.1  -8.8  -1.1  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -21.50,  +39.48,   -5.25,   +4.68,  -36.48,  -32.19]  speed=20 wait=0.0s  (pre max|Δ|=9.50°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.1  +7.8  -3.6  +0.8  -9.5  -0.6  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -25.80,  +48.89,   -7.24,   +5.41,  -45.33,  -32.33]  speed=20 wait=0.0s  (pre max|Δ|=9.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.71° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.7  +8.3  -3.6  +0.1  -9.1  -0.4  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -26.85,  +51.14,   -7.87,   +5.57,  -47.42,  -32.36]  speed=20 wait=0.0s  (pre max|Δ|=2.25°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.46° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.5  +1.1  -2.3  -0.3  -2.1  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.46°（関節 j2）
[002] 推論 987ms  10ステップ先  Δ=-11.0 +17.3  -3.6  +0.0 -13.6  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ -31.96,  +59.43,   -8.95,   +5.91,  -54.48,  -32.44]  speed=20 wait=0.0s  (pre max|Δ|=7.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.57° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.3  +7.1  -2.5  -0.5  -6.7  -0.4  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -35.63,  +65.73,   -9.55,   +6.14,  -59.43,  -32.53]  speed=20 wait=0.0s  (pre max|Δ|=5.09°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.7  +5.1  -2.2  -0.5  -4.9  -0.4  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -37.19,  +68.88,   -9.94,   +6.31,  -61.30,  -32.62]  speed=20 wait=0.0s  (pre max|Δ|=2.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.68° (tol 3.0°)
       [VIA   ] step  8  Δ= -1.8  +2.1  -1.9  -0.4  -2.3  -0.4  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -37.60,  +69.54,  -10.04,   +6.32,  -61.34,  -32.64]  speed=20 wait=0.0s  (pre max|Δ|=1.61°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.43° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.6  -0.4  -1.6  -0.5  -0.1  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.43°（関節 j2）
[003] 推論 986ms  10ステップ先  Δ= -0.8  +1.0  -2.7  -0.8  -1.2  -0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk003_via02: send_angles (single) [ -38.00,  +70.39,  -10.39,   +6.32,  -62.00,  -32.70]  speed=20 wait=0.0s  (pre max|Δ|=1.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.69° (tol 3.0°)
       [VIA   ] step  2  Δ= -1.0  -0.4  -1.8  -0.4  -0.7  -0.4  着いた
[SEND] pi05_chunk003_via05: send_angles (single) [ -37.85,  +70.68,  -10.72,   +6.21,  -62.32,  -32.74]  speed=20 wait=0.0s  (pre max|Δ|=1.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.58° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.6  -0.9  -1.7  -0.5  -0.5  -0.4  着いた
[SEND] pi05_chunk003_via08: send_angles (single) [ -37.78,  +71.47,  -11.21,   +6.02,  -62.51,  -32.85]  speed=20 wait=0.0s  (pre max|Δ|=2.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.55° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -0.2  -2.1  -0.6  -0.6  -0.4  着いた
[SEND] pi05_chunk003_via09: send_angles (single) [ -37.79,  +71.72,  -11.32,   +6.01,  -62.57,  -32.87]  speed=20 wait=0.0s  (pre max|Δ|=1.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.48° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -1.1  -1.5  -0.4  -0.0  -0.4  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.48°（関節 j2）
[004] 推論 1007ms  10ステップ先  Δ= +0.0  +7.0  -8.6  -0.5  +4.4  -1.2  グリッパー→閉
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > p
objc[5198]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8c890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d2c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8c8e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8c958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8c980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d3b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8c9d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8ca20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8ca98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d4d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cb38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cb88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d5c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cbb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d5e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cbd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cc50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8ccc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cd18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cd40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5198]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ad8cd90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11175d7c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
  from pkg_resources import resource_stream, resource_exists
[PAD   ] 補正 1 (推論 4 のあと). ゲームパッドで直して, □ で推論に戻ります
コントローラーを待っています（つないでいなければ、今つないでください）。□ で推論に戻ります
[接続] PS4 Controller  GUID=03008fe54c050000cc09000000016800  軸=6  ボタン=16
[送信] j0 +2.0° → -35.70 +72.77 -9.84 +6.32 -62.57 -32.51  届いた（ずれ 0.96°）  届いた角度 -35.68 +72.77 -9.84 +5.36 -62.57 -32.51
[送信] j0 +2.0° → -33.70 +72.77 -9.84 +6.32 -62.57 -32.51  届いた（ずれ 0.79°）  届いた角度 -33.75 +72.77 -9.84 +5.53 -62.57 -32.51
^C[PAD   ] 補正 1 を終えました (12.8 秒, 送った目標 2 回). この姿勢から推論に戻ります

[STOP  ] Ctrl-C
[RECORD] 記録終了 コマ 400 (8.151 fps) 実測角 353 回 (7.19 Hz)  電流 357 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113433/recording
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113433
[CLIENT] run_policy_client.py が終わった (終了コード 0. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1))
    (52 秒)
もう1回やりますか? y=やる / 他=終わる > y

=== 7. HOME → 爪を開く → 位置合わせ (5 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-33.92, 72.77, -9.84, 5.71, -62.57, -32.51]
[SEND] HOME へ移動指令
[WAIT] t=0.6s  max_err=59.94°
[WAIT] t=1.1s  max_err=43.85°
[WAIT] t=1.6s  max_err=27.94°
[WAIT] t=2.1s  max_err=12.21°
[WAIT] t=2.6s  max_err=2.37°
[DONE] HOME 到達 max_err=2.37°
[POST] 最終姿勢: [-0.35, 1.31, 0.79, -0.26, -2.37, -30.84]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= None
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy=  +8.8  dx=  -2.2  response=0.790  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
^C
[STOP  ] Ctrl-C
[DONE  ] 終了 (何も書いていません)
    (29 秒)

=== 8. 実機推論 (5 回目)
[WAIT  ] 送ったあと 0.0s / 爪のあと 0.8s (開くときの daemon 0.0s) / 止まるのを待つ目安 0.8s
[SAFE  ] 安全範囲 (学習 50 本 ±10°): j0[-72,+55]  j1[-9,+88]  j2[-45,+52]  j3[-18,+27]  j4[-87,+10]  j5[-51,-15]
[SAFE  ] 肩 j1 の上限は J1_SAFE_MAX=88° で切った (これを超える指令はアームが黙って捨てる / LOG352)  元データ: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes
[MODE  ] EXECUTE  steps/chunk=10  max_move=20.0°  log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113600
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=+2.1 dx=+4.4 response=0.584 → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[CAMERA] 基準: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_183454/frames/000000.jpg
[POLICY] 接続 ws://localhost:8000  metadata={}
[RECORD] 上カメラと実測角を 1 秒 10 コマで記録します → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113600/recording
[GRIP  ] 開始時のグリッパー開放は, 最初の目標が検査を通ってから行います (爪が閉じていたら手で開けておく)
[STATE ] 実測を渡す (直前に送った目標がない)
[000] 推論 971ms  10ステップ先  Δ=-10.6 +18.1  -2.8  +2.2 -17.7  -1.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[GRIP  ] 開始時にグリッパーを開く
  [Pi] GRIPPER: OPEN result= None
[SEND] pi05_chunk000_via02: send_angles (single) [  -0.93,   +2.05,   +0.76,   -0.03,   -1.01,  -30.23]  speed=20 wait=0.0s  (pre max|Δ|=0.75°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.02° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.7  +0.7  -0.1  +0.2  -0.7  +0.0  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -4.67,   +9.18,   -0.14,   +0.77,   -8.22,  -30.60]  speed=20 wait=0.0s  (pre max|Δ|=7.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.34° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.6  +6.1  -1.7  +1.0  -8.0  -0.4  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [  -9.45,  +17.07,   -1.42,   +1.69,  -15.72,  -31.06]  speed=20 wait=0.0s  (pre max|Δ|=9.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.77° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.8  +6.9  -3.0  +1.8  -9.8  -0.8  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -10.85,  +19.45,   -1.92,   +1.90,  -17.95,  -31.18]  speed=20 wait=0.0s  (pre max|Δ|=3.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.2  +1.4  -2.3  +0.8  -3.9  -0.9  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.84°（関節 j2）
[001] 推論 997ms  10ステップ先  Δ=-16.4 +27.9  -7.1  +4.3 -29.0  -1.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [ -15.67,  +27.48,   -3.33,   +3.03,  -25.41,  -31.62]  speed=20 wait=0.0s  (pre max|Δ|=8.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.67° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.8  +6.9  -3.3  +1.6  -8.5  -1.2  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -20.89,  +36.37,   -5.07,   +4.34,  -34.12,  -31.83]  speed=20 wait=0.0s  (pre max|Δ|=9.08°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.4  +7.7  -3.4  +1.0  -9.1  -1.0  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -25.70,  +45.75,   -6.97,   +5.43,  -43.36,  -31.94]  speed=20 wait=0.0s  (pre max|Δ|=9.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.70° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.0  +8.2  -3.5  +0.6  -9.5  -0.7  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -27.33,  +48.43,   -7.20,   +5.65,  -45.85,  -31.96]  speed=20 wait=0.0s  (pre max|Δ|=3.14°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.84° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.2  +1.4  -1.8  -0.4  -3.2  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.84°（関節 j2）
[002] 推論 917ms  10ステップ先  Δ=-11.8 +18.2  -4.2  -0.0 -15.2  -1.0
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ -33.17,  +57.26,   -8.64,   +5.99,  -53.55,  -32.06]  speed=20 wait=0.0s  (pre max|Δ|=8.03°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.61° (tol 3.0°)
       [VIA   ] step  2  Δ= -6.0  +7.8  -3.3  -0.4  -8.0  -0.6  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -37.14,  +64.35,   -9.55,   +6.13,  -59.20,  -32.18]  speed=20 wait=0.0s  (pre max|Δ|=6.12°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.47° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.4  +5.9  -2.5  -0.6  -6.1  -0.5  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -38.79,  +67.38,   -9.59,   +6.38,  -61.09,  -32.30]  speed=20 wait=0.0s  (pre max|Δ|=2.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.51° (tol 3.0°)
       [VIA   ] step  8  Δ= -1.9  +1.7  -1.5  -0.5  -2.4  -0.5  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -38.95,  +67.67,   -9.56,   +6.38,  -60.73,  -32.36]  speed=20 wait=0.0s  (pre max|Δ|=1.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.48° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -0.8  -1.5  -0.6  -0.3  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.48°（関節 j2）
[003] 推論 938ms  10ステップ先  Δ= -1.0  +3.9  -3.3  -1.3  -2.3  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > p
objc[5249]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4c890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd2c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4c8e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4c958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4c980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd3b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4c9d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4ca20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4ca98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd4d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cb38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cb88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd5c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cbb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd5e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cbd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cc50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4ccc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cd18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cd40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5249]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x107c4cd90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x1245cd7c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
  from pkg_resources import resource_stream, resource_exists
[PAD   ] 補正 1 (推論 3 のあと). ゲームパッドで直して, □ で推論に戻ります
コントローラーを待っています（つないでいなければ、今つないでください）。□ で推論に戻ります
[接続] PS4 Controller  GUID=03008fe54c050000cc09000000016800  軸=6  ボタン=16
[送信] j0 +1.0° → -37.67 +68.55 -8.08 +6.76 -60.38 -32.08  届いた（ずれ 0.09°）  届いた角度 -37.70 +68.55 -8.08 +6.67 -60.38 -32.08
[送信] j0 +1.0° → -36.67 +68.55 -8.08 +6.76 -60.38 -32.08  届いた（ずれ 0.52°）  届いた角度 -37.08 +68.55 -8.08 +6.24 -60.38 -32.08
[送信] j0 +2.0° → -34.67 +68.55 -8.08 +6.76 -60.38 -32.08  届いた（ずれ 1.05°）  届いた角度 -34.54 +68.55 -8.08 +5.71 -60.38 -32.08
[送信] j0 +1.0° → -33.67 +68.55 -8.08 +6.76 -60.38 -32.08  届いた（ずれ 0.79°）  届いた角度 -33.22 +68.55 -8.08 +5.97 -60.38 -32.08
[PAD   ] 補正 1 を終えました (14.1 秒, 送った目標 4 回). この姿勢から推論に戻ります
[STATE ] 実測を渡す (直前に送った目標がない)
[004] 推論 988ms  10ステップ先  Δ= -0.4  +4.8  -0.9  +0.1  -1.8  -0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ -33.82,  +70.75,   -8.32,   +6.28,  -61.49,  -32.15]  speed=20 wait=0.0s  (pre max|Δ|=2.20°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.14° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.3  +2.2  -0.2  +0.2  -1.1  -0.1  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -33.75,  +71.81,   -8.47,   +6.41,  -61.90,  -32.18]  speed=20 wait=0.0s  (pre max|Δ|=0.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.22° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.3  -0.1  -0.6  +0.3  +0.2  -0.1  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -33.79,  +72.90,   -8.80,   +6.29,  -62.13,  -32.25]  speed=20 wait=0.0s  (pre max|Δ|=1.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.10° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.3  -0.1  -1.1  +0.1  +0.6  -0.2  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ -33.85,  +73.30,   -9.01,   +6.21,  -62.21,  -32.28]  speed=20 wait=0.0s  (pre max|Δ|=1.28°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.28° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.4  -0.9  -1.3  +0.1  +0.6  -0.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.28°（関節 j2）
[005] 推論 921ms  8ステップ先  Δ= -0.3  +4.7  -5.6  -0.2  +1.0  -0.6  グリッパー→閉
       [VIA   ] 中継点 3 点: step 2, 5, 7
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk005_via02: send_angles (single) [ -33.89,  +75.70,  -10.69,   +6.10,  -62.09,  -32.45]  speed=20 wait=0.0s  (pre max|Δ|=2.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.82° (tol 3.0°)
       [VIA   ] step  2  Δ= -0.4  +1.5  -3.0  -0.0  +0.8  -0.4  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -33.83,  +78.36,  -12.97,   +5.98,  -61.84,  -32.62]  speed=20 wait=0.0s  (pre max|Δ|=3.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.52° (tol 3.0°)
       [VIA   ] step  5  Δ= -0.4  +1.4  -3.5  -0.2  +1.0  -0.4  着いた
[SEND] pi05_chunk005_via07: send_angles (single) [ -33.77,  +78.83,  -13.33,   +5.98,  -61.81,  -32.67]  speed=20 wait=0.0s  (pre max|Δ|=1.47°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.21° (tol 3.0°)
       [VIA   ] step  7  Δ= -0.3  -0.7  -1.5  -0.2  +1.0  -0.3  着いた
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.21°（関節 j2）
[006] 推論 969ms  10ステップ先  Δ= +6.7  -7.0  +1.5  +1.3  +0.4  -1.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > h
[SEND] pi05_home: send_angles (single) [  +0.00,   +0.00,   +0.00,   +0.00,   +0.00,  -30.00]  speed=20 wait=0.0s  (pre max|Δ|=79.89°, post-send timeout 14.0s)
[SEND] arrival OK: max|Δ|=1.49° (tol 2.5°)
[RECORD] 記録終了 コマ 466 (8.223 fps) 実測角 457 回 (8.06 Hz)  電流 466 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113600/recording
       結果: y=成功 / n=失敗 / Enter=記録しない > n
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113600
[CLIENT] run_policy_client.py が終わった (終了コード 0. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1))
    (62 秒)
もう1回やりますか? y=やる / 他=終わる > y

=== 7. HOME → 爪を開く → 位置合わせ (6 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.26, 1.49, 0.70, 0.26, -0.26, -30.41]
[SEND] HOME へ移動指令
[WAIT] t=0.7s  max_err=1.49°
[DONE] HOME 到達 max_err=1.49°
[POST] 最終姿勢: [-0.26, 1.49, 0.70, 0.26, -0.26, -30.32]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= None
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy=  +9.6  dx=  -2.4  response=0.669  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (37 秒)

=== 8. 実機推論 (6 回目)
[WAIT  ] 送ったあと 0.0s / 爪のあと 0.8s (開くときの daemon 0.0s) / 止まるのを待つ目安 0.8s
[SAFE  ] 安全範囲 (学習 50 本 ±10°): j0[-72,+55]  j1[-9,+88]  j2[-45,+52]  j3[-18,+27]  j4[-87,+10]  j5[-51,-15]
[SAFE  ] 肩 j1 の上限は J1_SAFE_MAX=88° で切った (これを超える指令はアームが黙って捨てる / LOG352)  元データ: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes
[MODE  ] EXECUTE  steps/chunk=10  max_move=20.0°  log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113741
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=+2.6 dx=+4.1 response=0.590 → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[CAMERA] 基準: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_183454/frames/000000.jpg
[POLICY] 接続 ws://localhost:8000  metadata={}
[RECORD] 上カメラと実測角を 1 秒 10 コマで記録します → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113741/recording
[GRIP  ] 開始時のグリッパー開放は, 最初の目標が検査を通ってから行います (爪が閉じていたら手で開けておく)
[STATE ] 実測を渡す (直前に送った目標がない)
[000] 推論 920ms  10ステップ先  Δ=-13.1 +22.2  -3.6  +1.5 -21.9  -1.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[GRIP  ] 開始時にグリッパーを開く
  [Pi] GRIPPER: OPEN result= None
[SEND] pi05_chunk000_via02: send_angles (single) [  -2.78,   +5.72,   +0.23,   +0.40,   -4.42,  -30.41]  speed=20 wait=0.0s  (pre max|Δ|=4.23°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.5  +4.2  -0.5  +0.1  -4.2  -0.2  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -7.18,  +13.48,   -0.89,   +0.92,  -12.16,  -30.81]  speed=20 wait=0.0s  (pre max|Δ|=9.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.88° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.0  +6.9  -1.6  +0.7 -10.0  -0.6  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -11.88,  +21.47,   -2.38,   +1.59,  -19.90,  -31.25]  speed=20 wait=0.0s  (pre max|Δ|=9.53°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.77° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.0  +6.9  -3.1  +1.3  -9.5  -0.9  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -13.33,  +23.68,   -2.87,   +1.80,  -22.16,  -31.38]  speed=20 wait=0.0s  (pre max|Δ|=3.62°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.26° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.6  +1.1  -2.3  +1.2  -3.6  -1.1  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.26°（関節 j2）
[001] 推論 917ms  10ステップ先  Δ=-17.2 +27.9  -7.3  +3.6 -26.2  -1.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [ -18.87,  +31.97,   -4.32,   +2.94,  -29.48,  -31.64]  speed=20 wait=0.0s  (pre max|Δ|=8.13°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.86° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.2  +7.2  -3.7  +1.8  -8.1  -1.1  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -24.46,  +41.18,   -5.95,   +4.14,  -37.65,  -31.76]  speed=20 wait=0.0s  (pre max|Δ|=8.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  5  Δ= -5.8  +8.1  -3.4  +0.6  -8.9  -0.8  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -29.35,  +50.36,   -7.59,   +4.68,  -45.55,  -31.84]  speed=20 wait=0.0s  (pre max|Δ|=8.55°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.62° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.0  +8.0  -3.3  +0.5  -8.5  -0.7  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -30.39,  +52.67,   -7.96,   +4.68,  -47.50,  -31.85]  speed=20 wait=0.0s  (pre max|Δ|=2.42°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.81° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.4  +1.1  -1.9  -0.8  -2.4  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.81°（関節 j2）
[002] 推論 987ms  10ステップ先  Δ= -9.3 +13.7  -2.7  +0.2 -12.6  -0.9
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ -35.75,  +60.67,   -8.57,   +5.03,  -54.67,  -31.98]  speed=20 wait=0.0s  (pre max|Δ|=7.39°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.54° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.6  +6.7  -2.4  -0.4  -7.4  -0.6  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -38.50,  +65.81,   -8.81,   +5.33,  -58.88,  -32.05]  speed=20 wait=0.0s  (pre max|Δ|=4.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.78° (tol 3.0°)
       [VIA   ] step  5  Δ= -3.2  +3.8  -1.8  -0.2  -4.8  -0.4  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -39.29,  +67.34,   -8.88,   +5.52,  -59.77,  -32.11]  speed=20 wait=0.0s  (pre max|Δ|=1.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.85° (tol 3.0°)
       [VIA   ] step  8  Δ= -1.2  +0.5  -1.8  -0.2  -1.9  -0.4  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -39.37,  +67.65,   -8.81,   +5.60,  -59.90,  -32.15]  speed=20 wait=0.0s  (pre max|Δ|=1.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.78° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -0.9  -1.8  -0.4  -0.2  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.78°（関節 j2）
[003] 推論 990ms  10ステップ先  Δ= +0.1  +2.0  -2.9  -0.7  -2.3  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > p
objc[5303]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576c890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd2c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576c8e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576c958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576c980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd3b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576c9d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576ca20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576ca98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd4d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cb38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cb88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd5c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cbb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd5e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cbd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cc50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576ccc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cd18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cd40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5303]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x11576cd90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x126ebd7c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
  from pkg_resources import resource_stream, resource_exists
[PAD   ] 補正 1 (推論 3 のあと). ゲームパッドで直して, □ で推論に戻ります
コントローラーを待っています（つないでいなければ、今つないでください）。□ で推論に戻ります
[接続] PS4 Controller  GUID=03008fe54c050000cc09000000016800  軸=6  ボタン=16
[送信] j0 +2.0° → -37.55 +68.55 -7.03 +5.97 -59.67 -31.81  届いた（ずれ 0.97°）  届いた角度 -37.35 +68.55 -7.03 +5.00 -59.67 -31.81
[送信] j0 +2.0° → -35.55 +68.55 -7.03 +5.97 -59.67 -31.81  届いた（ずれ 1.32°）  届いた角度 -35.15 +68.55 -7.03 +4.65 -59.67 -31.81
[送信] j0 +2.0° → -33.55 +68.55 -7.03 +5.97 -59.67 -31.81  届いた（ずれ 0.97°）  届いた角度 -33.31 +68.55 -7.03 +5.00 -59.67 -31.90
[送信] j1 -1.0° → -33.55 +67.55 -7.03 +5.97 -59.67 -31.81  動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 1.0°）  届いた角度 -33.75 +68.55 -7.03 +5.36 -59.67 -31.90
[送信] j1 -1.0° → -33.55 +66.55 -7.03 +5.97 -59.67 -31.81  動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 2.0°）  届いた角度 -33.75 +68.55 -7.03 +5.36 -59.67 -31.90
[送信] j1 -1.0° → -33.55 +65.55 -7.03 +5.97 -59.67 -31.81  動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 2.91°）  届いた角度 -33.75 +68.46 -7.03 +5.36 -59.67 -31.90
[送信] j1 -1.0° → -33.55 +64.55 -7.03 +5.97 -59.67 -31.81  手前で止まった（次の押しは この目標の先から）（ずれ 2.33°）  届いた角度 -33.75 +66.88 -7.03 +5.36 -59.67 -31.90
[止める] stop（released_while_sending）  止まった角度 -33.75 +55.72 -7.03 +5.36 -59.85 -31.99
[関節] 上下で動かす関節を j2 にしました
[送信] j2 -1.0° → -33.55 +55.72 -8.03 +5.97 -59.67 -31.81  動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 1.0°）  届いた角度 -33.75 +55.72 -7.03 +5.36 -59.85 -31.99
[止める] stop（released_while_sending）  止まった角度 -33.75 +57.12 -9.49 +5.36 -58.18 -31.99
[送信] j2 -1.0° → -33.55 +55.72 -10.49 +5.97 -59.67 -31.81  届いた（ずれ 0.61°）  届いた角度 -33.75 +55.54 -10.81 +5.36 -59.58 -31.99
[関節] 上下で動かす関節を j3 にしました
[関節] 上下で動かす関節を j4 にしました
[関節] 上下で動かす関節を j5 にしました
[関節] 上下で動かす関節を j1 にしました
[送信] j1 +2.0° → -33.55 +57.72 -10.49 +5.97 -59.67 -31.81  届いた（ずれ 0.91°）  届いた角度 -33.75 +58.09 -9.58 +5.36 -59.67 -31.99
[止める] stop（released_while_sending）  止まった角度 -33.75 +64.42 -8.96 +5.44 -58.00 -31.99
[送信] j1 +2.0° → -33.55 +66.42 -10.49 +5.97 -59.67 -31.81  手前で止まった（次の押しは この目標の先から）（ずれ 1.67°）  届いた角度 -33.75 +67.58 -9.14 +5.44 -58.00 -31.99
[送信] j1 +2.0° → -33.55 +68.42 -10.49 +5.97 -59.67 -31.81  手前で止まった（次の押しは この目標の先から）（ずれ 1.36°）  届いた角度 -33.75 +69.78 -9.14 +5.44 -58.44 -31.99
[送信] j1 +2.0° → -33.55 +70.42 -10.49 +5.97 -59.67 -31.81  手前で止まった（次の押しは この目標の先から）（ずれ 1.38°）  届いた角度 -33.75 +71.80 -9.14 +5.44 -58.79 -31.99
[関節] 上下で動かす関節を j2 にしました
[送信] j2 +1.0° → -33.55 +70.42 -9.49 +5.97 -48.33 -31.81  届いた（ずれ 1.38°）  届いた角度 -33.75 +71.80 -9.22 +5.27 -48.33 -32.34
[長押し] j2 を -9.22° → -3.51° まで（目標を 1 回送信。止めます）
[長押し] j2 を +4.74° → -4.39° まで（目標を 1 回送信。止めます）
[止める] stop（released_while_sending）  止まった角度 -33.57 +74.79 -17.66 +5.44 -55.10 -31.37
[関節] 上下で動かす関節を j3 にしました
[関節] 上下で動かす関節を j4 にしました
[関節] 上下で動かす関節を j5 にしました
[関節] 上下で動かす関節を j1 にしました
[送信] j1 +1.0° → -33.55 +75.79 -17.66 +5.97 -54.75 -31.81  手前で止まった（次の押しは この目標の先から）（ずれ 5.98°）  届いた角度 -33.66 +77.25 -22.41 +5.53 -60.73 -31.37
[範囲] j1 を +92.25° → +90.87° に切った（j1 の上限 90.87 (PICK_J1_FIXED) +90.87°）
[送信] j1 +1.0° → -33.55 +76.79 -17.66 +5.97 -54.75 -31.81  手前で止まった（次の押しは この目標の先から）（ずれ 5.98°）  届いた角度 -33.66 +77.95 -22.41 +5.53 -60.73 -31.55
[送信] j1 +2.0° → -33.55 +78.79 -17.66 +5.97 -54.75 -31.81  手前で止まった（次の押しは この目標の先から）（ずれ 5.98°）  届いた角度 -33.66 +80.24 -22.41 +5.62 -60.73 -31.64
[送信] j1 +2.0° → -33.55 +80.79 -17.66 +5.97 -54.75 -31.81  手前で止まった（次の押しは この目標の先から）（ずれ 5.98°）  届いた角度 -33.75 +82.35 -22.41 +5.62 -60.73 -31.72
[送信] j1 +2.0° → -33.55 +82.79 -17.66 +5.97 -54.75 -31.81  手前で止まった（次の押しは この目標の先から）（ずれ 5.98°）  届いた角度 -33.75 +84.02 -22.41 +5.62 -60.73 -31.81
[送信] j1 +2.0° → -33.55 +84.79 -17.66 +5.97 -54.75 -31.81  手前で止まった（次の押しは この目標の先から）（ずれ 5.89°）  届いた角度 -33.75 +86.13 -22.41 +5.71 -60.64 -31.81
[PAD   ] 補正 1 を終えました (88.5 秒, 送った目標 27 回). この姿勢から推論に戻ります
[STATE ] 実測を渡す (直前に送った目標がない)
[004] 推論 916ms  6ステップ先  Δ= +0.2  +1.9  -5.3  -0.1  +2.3  -0.5  グリッパー→閉
       [LIMIT] j1 安全範囲でクランプ +89.9→+88.0
       [VIA   ] 中継点 2 点: step 2, 5
       [LIMIT] step 2: j1 安全範囲でクランプ +89.4→+88.0
       [LIMIT] step 5: j1 安全範囲でクランプ +89.9→+88.0
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ -33.58,  +88.00,  -26.79,   +5.62,  -58.37,  -32.15]  speed=20 wait=0.0s  (pre max|Δ|=4.38°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.39° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.2  +1.9  -4.4  -0.1  +1.8  -0.3  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -33.55,  +88.00,  -27.76,   +5.62,  -58.07,  -32.28]  speed=20 wait=0.0s  (pre max|Δ|=1.60°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.43° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -0.8  -1.6  +0.1  +1.6  -0.4  着いた
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.43°（関節 j4）
[005] 推論 986ms  10ステップ先  Δ= +1.5 -11.8  +5.5  +1.1  +0.9  -0.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk005_via02: send_angles (single) [ -33.48,  +84.31,  -26.06,   +5.67,  -58.32,  -32.36]  speed=20 wait=0.0s  (pre max|Δ|=4.54°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.52° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.3  -4.5  +0.8  +0.5  +1.3  -0.1  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -33.31,  +81.02,  -23.99,   +5.81,  -58.68,  -32.41]  speed=20 wait=0.0s  (pre max|Δ|=5.72°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.56° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.4  -5.7  +2.1  +0.5  -1.6  +0.0  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -33.27,  +78.13,  -22.03,   +6.11,  -58.69,  -32.58]  speed=20 wait=0.0s  (pre max|Δ|=5.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.28° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.5  -5.4  +1.3  +0.4  -1.8  -0.1  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [ -32.26,  +77.00,  -21.40,   +6.36,  -58.64,  -32.74]  speed=20 wait=0.0s  (pre max|Δ|=3.41°, post-send timeout 8.0s)
[SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=3.06° actual=[ -32.43,  +80.06,  -20.83,   +6.50,  -57.91,  -32.43]
[SEND] リトライしません: pre→last max|Δ| 1.32° >= 1.0° (部分移動/ストール疑い)
       [VIA   ] step  9  Δ= +1.5  -3.4  -0.1  +0.7  -1.8  -0.3  未到達
       [WARN] 未到達. j4 の発熱などを確認してください
[STATE ] 目標を渡す  目標と実測の最大差 3.06°（関節 j1）
[006] 推論 960ms  10ステップ先  Δ=+11.5 -12.2  +6.0  +2.2  -0.1  -1.9
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk006_via02: send_angles (single) [ -31.96,  +72.75,  -16.91,   +6.81,  -60.06,  -32.82]  speed=20 wait=0.0s  (pre max|Δ|=7.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.57° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.5  -7.3  +3.9  +0.3  -1.9  -0.4  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [ -30.81,  +71.38,  -15.43,   +7.47,  -60.42,  -33.26]  speed=20 wait=0.0s  (pre max|Δ|=3.94°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.62° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.6  -3.9  +0.6  +0.9  +1.0  -0.7  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ -23.78,  +68.86,  -14.86,   +8.39,  -58.85,  -34.08]  speed=20 wait=0.0s  (pre max|Δ|=7.06°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.59° (tol 3.0°)
       [VIA   ] step  8  Δ= +7.1  -5.1  -0.2  +0.8  +2.6  -1.0  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ -20.97,  +67.88,  -14.82,   +8.69,  -58.02,  -34.33]  speed=20 wait=0.0s  (pre max|Δ|=3.57°, post-send timeout 8.0s)
[SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=3.39° actual=[ -21.09,  +71.27,  -14.32,   +9.14,  -58.53,  -34.01]
[SEND] リトライしません: pre→last max|Δ| 2.90° >= 1.0° (部分移動/ストール疑い)
       [VIA   ] step  9  Δ= +3.3  -3.6  -0.5  +0.1  +3.2  -0.7  未到達
       [WARN] 未到達. j4 の発熱などを確認してください
[STATE ] 目標を渡す  目標と実測の最大差 3.39°（関節 j1）

[007] 推論 922ms  10ステップ先  Δ=+28.1 -10.4  +2.5  +3.8  +4.3  -3.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk007_via02: send_angles (single) [ -12.71,  +65.79,  -13.69,  +10.07,  -57.34,  -35.27]  speed=20 wait=0.0s  (pre max|Δ|=8.38°, post-send timeout 8.0s)
[SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=3.02° actual=[ -12.91,  +68.81,  -13.09,   +9.84,  -57.30,  -34.98]
[SEND] リトライしません: pre→last max|Δ| 8.18° >= 1.0° (部分移動/ストール疑い)
       [VIA   ] step  2  Δ= +8.4  -5.5  +0.6  +0.9  +1.0  -1.3  未到達
       [WARN] 未到達. j4 の発熱などを確認してください
[SEND] pi05_chunk007_via05: send_angles (single) [  -4.07,  +63.55,  -12.78,  +11.49,  -56.26,  -36.24]  speed=20 wait=0.0s  (pre max|Δ|=8.84°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.80° (tol 3.0°)
       [VIA   ] step  5  Δ= +8.8  -5.3  +0.3  +1.7  +1.0  -1.3  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [  +4.45,  +61.46,  -11.98,  +12.69,  -55.00,  -37.02]  speed=20 wait=0.0s  (pre max|Δ|=8.58°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.78° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.6  -4.9  +0.1  +1.3  +1.1  -1.1  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [  +7.04,  +60.85,  -11.86,  +12.98,  -54.21,  -37.22]  speed=20 wait=0.0s  (pre max|Δ|=3.39°, post-send timeout 8.0s)
[SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=3.31° actual=[  +7.03,  +64.16,  -11.16,  +13.35,  -54.05,  -36.91]
[SEND] リトライしません: pre→last max|Δ| 2.73° >= 1.0° (部分移動/ストール疑い)
       [VIA   ] step  9  Δ= +2.7  -3.4  -0.4  +0.2  +0.5  -0.6  未到達
       [WARN] 未到達. j4 の発熱などを確認してください
[STATE ] 目標を渡す  目標と実測の最大差 3.31°（関節 j1）
[008] 推論 916ms  10ステップ先  Δ=+29.0 -12.4  +0.3  +3.7  +4.0  -2.3
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk008_via02: send_angles (single) [ +15.17,  +58.22,  -11.66,  +14.06,  -52.98,  -38.19]  speed=20 wait=0.0s  (pre max|Δ|=8.14°, post-send timeout 8.0s)
[SEND] [TIMEOUT] 8.0s 内に未到達: max|Δ|=3.03° actual=[ +15.11,  +61.25,  -11.16,  +13.79,  -52.47,  -37.88]
[SEND] リトライしません: pre→last max|Δ| 8.08° >= 1.0° (部分移動/ストール疑い)
       [VIA   ] step  2  Δ= +8.1  -5.9  -0.5  +0.8  +1.1  -1.3  未到達
       [WARN] 未到達. j4 の発熱などを確認してください
[SEND] pi05_chunk008_via05: send_angles (single) [ +24.07,  +55.31,  -11.30,  +15.40,  -52.03,  -38.91]  speed=20 wait=0.0s  (pre max|Δ|=8.96°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.96° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.0  -5.9  -0.1  +1.6  +0.4  -1.0  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +32.92,  +52.71,  -10.96,  +16.64,  -50.64,  -39.25]  speed=20 wait=0.0s  (pre max|Δ|=9.02°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.83° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.0  -5.6  -0.2  +1.3  +1.8  -0.7  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +36.04,  +51.76,  -10.90,  +16.95,  -50.03,  -39.26]  speed=20 wait=0.0s  (pre max|Δ|=3.78°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.55° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.9  -3.8  -0.3  +0.3  +1.5  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.55°（関節 j1）
[009] 推論 911ms  10ステップ先  Δ= +8.5  +8.2  -1.2  -2.3  -7.2  -0.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > h
[SEND] pi05_home: send_angles (single) [  +0.00,   +0.00,   +0.00,   +0.00,   +0.00,  -30.00]  speed=20 wait=0.0s  (pre max|Δ|=54.31°, post-send timeout 10.1s)
[SEND] arrival OK: max|Δ|=1.58° (tol 2.5°)
[RECORD] 記録終了 コマ 1559 (8.666 fps) 実測角 1621 回 (9.01 Hz)  電流 1644 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113741/recording
       結果: y=成功 / n=失敗 / Enter=記録しない > n
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113741
[CLIENT] run_policy_client.py が終わった (終了コード 0. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1))
    (184 秒)
もう1回やりますか? y=やる / 他=終わる > y

=== 7. HOME → 爪を開く → 位置合わせ (7 回目)
[INIT] daemon 接続中...
  [Pi] fresh_mode=1
[INIT] fresh_mode=1
[PRE]  現在姿勢: [-0.43, 1.58, 0.79, 0.00, -0.26, -30.49]
[SEND] HOME へ移動指令
[WAIT] t=0.7s  max_err=1.58°
[DONE] HOME 到達 max_err=1.58°
[POST] 最終姿勢: [-0.43, 1.58, 0.79, 0.00, -0.26, -30.41]
  [Pi] fresh_mode=0
[EXIT] fresh_mode=0, socket close
  [Pi] GRIPPER: OPEN result= None
[REF   ] 基準画像: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_194818/frames/000000.jpg
[REF   ] お手本 run_0001_20261019_194818 (つかんだ瞬間の j0 = +13.2°)
[REF   ] 重なった画像のブロックに実物のブロックを合わせると, お手本と同じ位置に置ける
[ALIGN ] |dy| <= 20 なら OK. アームは HOME に置いた状態で合わせる. q または Esc で終了 (ファイルには何も書かない)
[ALIGN ] dy=  +9.4  dx=  -2.8  response=0.675  → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[DONE  ] 終了 (何も書いていません)
    (18 秒)

=== 8. 実機推論 (7 回目)
[WAIT  ] 送ったあと 0.0s / 爪のあと 0.8s (開くときの daemon 0.0s) / 止まるのを待つ目安 0.8s
[SAFE  ] 安全範囲 (学習 50 本 ±10°): j0[-72,+55]  j1[-9,+88]  j2[-45,+52]  j3[-18,+27]  j4[-87,+10]  j5[-51,-15]
[SAFE  ] 肩 j1 の上限は J1_SAFE_MAX=88° で切った (これを超える指令はアームが黙って捨てる / LOG352)  元データ: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes
[MODE  ] EXECUTE  steps/chunk=10  max_move=20.0°  log=/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_114106
[MODEL ] deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
[CAMERA] 写り方 dy=+2.7 dx=+3.7 response=0.585 → OK (|dy|<=20 / |dx|<=20 / response>=0.20)
[CAMERA] 基準: /Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes/run_0001_20261019_183454/frames/000000.jpg
[POLICY] 接続 ws://localhost:8000  metadata={}
[RECORD] 上カメラと実測角を 1 秒 10 コマで記録します → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_114106/recording
[GRIP  ] 開始時のグリッパー開放は, 最初の目標が検査を通ってから行います (爪が閉じていたら手で開けておく)
[STATE ] 実測を渡す (直前に送った目標がない)
[000] 推論 971ms  10ステップ先  Δ=-13.3 +22.9  -4.1  +2.4 -22.1  -1.4
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[GRIP  ] 開始時にグリッパーを開く
  [Pi] GRIPPER: OPEN result= None
[SEND] pi05_chunk000_via02: send_angles (single) [  -3.08,   +5.95,   -0.12,   +0.60,   -4.33,  -30.61]  speed=20 wait=0.0s  (pre max|Δ|=4.37°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  2  Δ= -2.7  +4.4  -0.9  +0.6  -4.1  -0.4  着いた
[SEND] pi05_chunk000_via05: send_angles (single) [  -7.61,  +13.80,   -1.49,   +1.49,  -11.77,  -31.17]  speed=20 wait=0.0s  (pre max|Δ|=9.67°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.28° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.1  +6.9  -2.3  +1.5  -9.7  -0.9  着いた
[SEND] pi05_chunk000_via08: send_angles (single) [ -12.21,  +21.93,   -2.88,   +2.19,  -19.61,  -31.54]  speed=20 wait=0.0s  (pre max|Δ|=9.51°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.92° (tol 3.0°)
       [VIA   ] step  8  Δ= -5.0  +7.1  -3.4  +1.7  -9.5  -1.2  着いた
[SEND] pi05_chunk000_via09: send_angles (single) [ -13.76,  +24.50,   -3.29,   +2.40,  -22.31,  -31.66]  speed=20 wait=0.0s  (pre max|Δ|=4.30°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.33° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.9  +1.6  -2.3  +1.2  -4.3  -1.2  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.98°（関節 j2）
[001] 推論 923ms  10ステップ先  Δ=-17.3 +29.5  -8.0  +4.0 -27.4  -1.2
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk001_via02: send_angles (single) [ -19.55,  +33.91,   -5.01,   +4.03,  -30.19,  -31.97]  speed=20 wait=0.0s  (pre max|Δ|=8.93°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.76° (tol 3.0°)
       [VIA   ] step  2  Δ= -5.5  +8.3  -3.7  +2.2  -8.9  -1.0  着いた
[SEND] pi05_chunk001_via05: send_angles (single) [ -24.80,  +43.29,   -6.92,   +5.13,  -38.31,  -32.02]  speed=20 wait=0.0s  (pre max|Δ|=8.43°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.65° (tol 3.0°)
       [VIA   ] step  5  Δ= -4.8  +8.2  -3.7  +0.5  -8.4  -0.7  着いた
[SEND] pi05_chunk001_via08: send_angles (single) [ -29.35,  +52.21,   -8.80,   +5.62,  -46.18,  -32.08]  speed=20 wait=0.0s  (pre max|Δ|=8.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.77° (tol 3.0°)
       [VIA   ] step  8  Δ= -4.8  +7.6  -3.5  -0.2  -8.2  -0.5  着いた
[SEND] pi05_chunk001_via09: send_angles (single) [ -30.88,  +55.05,   -9.34,   +5.70,  -48.67,  -32.08]  speed=20 wait=0.0s  (pre max|Δ|=2.88°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.87° (tol 3.0°)
       [VIA   ] step  9  Δ= -1.8  +1.5  -2.2  -0.4  -2.9  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.70°（関節 j2）
[002] 推論 1002ms  10ステップ先  Δ= -6.3 +10.7  -2.4  +0.4 -10.7  -0.7
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk002_via02: send_angles (single) [ -35.15,  +62.66,   -9.87,   +6.15,  -55.40,  -32.19]  speed=20 wait=0.0s  (pre max|Δ|=7.15°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.44° (tol 3.0°)
       [VIA   ] step  2  Δ= -4.6  +6.2  -2.2  -0.3  -7.1  -0.5  着いた
[SEND] pi05_chunk002_via05: send_angles (single) [ -36.63,  +66.84,  -10.07,   +6.33,  -58.81,  -32.30]  speed=20 wait=0.0s  (pre max|Δ|=3.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.64° (tol 3.0°)
       [VIA   ] step  5  Δ= -1.7  +3.0  -1.6  -0.3  -4.0  -0.5  着いた
[SEND] pi05_chunk002_via08: send_angles (single) [ -36.76,  +67.15,  -10.09,   +6.35,  -58.85,  -32.35]  speed=20 wait=0.0s  (pre max|Δ|=1.66°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.66° (tol 3.0°)
       [VIA   ] step  8  Δ= -0.1  -1.0  -1.7  -0.6  -0.7  -0.5  着いた
[SEND] pi05_chunk002_via09: send_angles (single) [ -36.74,  +67.08,  -10.06,   +6.37,  -58.96,  -32.37]  speed=20 wait=0.0s  (pre max|Δ|=1.63°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.63° (tol 3.0°)
       [VIA   ] step  9  Δ= -0.1  -1.0  -1.6  -0.5  -0.8  -0.5  着いた
[STATE ] 目標を渡す  目標と実測の最大差 1.63°（関節 j2）
[003] 推論 915ms  10ステップ先  Δ= -0.7  +5.2  -5.2  -0.7  -2.7  -0.7
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > p
objc[5357]: Class SDLApplication is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08890) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a7512c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDLAppDelegate is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba088e0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751318). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDLTranslatorResponder is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08958) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751390). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDLMessageBoxPresenter is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08980) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a7513b8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDL_cocoametalview is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba089d0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751408). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDLOpenGLContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08a20) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751458). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDL_ShapeData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08a98) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a7514d0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDL_CocoaClosure is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08ae8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751520). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDL_VideoData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08b38) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751570). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDL_WindowData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08b88) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a7515c0). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDLWindow is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08bb0) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a7515e8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class Cocoa_WindowListener is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08bd8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751610). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDLView is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08c50) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751688). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class METAL_RenderData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08cc8) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751700). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class METAL_TextureData is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08d18) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751750). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDL_RumbleMotor is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08d40) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a751778). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
objc[5357]: Class SDL_RumbleContext is implemented in both /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/cv2/.dylibs/libSDL2-2.0.0.dylib (0x10ba08d90) and /opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/.dylibs/libSDL2-2.0.0.dylib (0x11a7517c8). This may cause spurious casting failures and mysterious crashes. One of the duplicates must be removed or renamed.
/opt/homebrew/Caskroom/miniforge/base/lib/python3.12/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
  from pkg_resources import resource_stream, resource_exists
[PAD   ] 補正 1 (推論 3 のあと). ゲームパッドで直して, □ で推論に戻ります
コントローラーを待っています（つないでいなければ、今つないでください）。□ で推論に戻ります
[接続] PS4 Controller  GUID=03008fe54c050000cc09000000016800  軸=6  ボタン=16
[送信] j0 +2.0° → -34.65 +68.11 -8.43 +6.76 -58.27 -31.99  届いた（ずれ 1.05°）  届いた角度 -34.54 +68.11 -8.43 +5.71 -59.15 -32.08
[送信] j0 +2.0° → -32.65 +68.11 -8.43 +6.76 -58.27 -31.99  届いた（ずれ 1.05°）  届いた角度 -32.43 +68.11 -8.43 +5.71 -59.15 -32.08
[関節] 上下で動かす関節を j2 にしました
[長押し] j2 を -8.43° → -8.43° まで（目標を 1 回送信。止めます）
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[送信] j2 -1.0° → -32.65 +68.11 +5.50 +6.76 -58.27 -31.99  動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 3.42°）  届いた角度 -33.04 +68.73 +6.32 +5.88 -61.69 -31.72
[送信] j2 -2.0° → -32.65 +68.11 +3.50 +6.76 -58.27 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 1.31°）  届いた角度 -33.04 +68.73 +4.30 +6.06 -59.58 -31.81
[送信] j2 -2.0° → -32.65 +68.11 +1.50 +6.76 -58.27 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 0.97°）  届いた角度 -33.04 +68.73 +2.46 +6.06 -57.30 -31.90
[長押し] j2 を +2.37° → -4.21° まで（目標を 1 回送信。止めます）
[送信] j2 -2.0° → -32.65 +68.11 -13.68 +6.76 -58.27 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 1.76°）  届いた角度 -33.04 +69.87 -12.48 +6.15 -58.88 -31.90
[送信] j2 +2.0° → -32.65 +68.11 -11.68 +6.76 -58.27 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 1.76°）  届いた角度 -33.04 +69.87 -11.07 +6.15 -58.88 -31.90
[送信] j2 +2.0° → -32.65 +68.11 -9.68 +6.76 -58.27 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 1.76°）  届いた角度 -33.04 +69.87 -9.05 +6.15 -58.88 -31.90
[関節] 上下で動かす関節を j3 にしました
[関節] 上下で動かす関節を j4 にしました
[関節] 上下で動かす関節を j5 にしました
[関節] 上下で動かす関節を j1 にしました
[送信] j1 -1.0° → -32.65 +67.11 -9.68 +6.76 -58.27 -31.99  動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 2.76°）  届いた角度 -33.04 +69.87 -8.96 +6.15 -58.88 -31.99
[送信] j1 +1.0° → -32.65 +68.11 -9.68 +6.76 -58.27 -31.99  動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 13.63°）  届いた角度 -33.04 +69.87 -8.96 +5.97 -44.64 -32.87
[送信] j1 +1.0° → -32.65 +69.11 -9.68 +6.76 -44.56 -31.99  動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 0.96°）  届いた角度 -33.04 +69.87 -8.96 +5.88 -44.56 -32.95
[送信] j1 -1.0° → -32.65 +68.11 -9.68 +6.76 -44.56 -31.99  動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 1.85°）  届いた角度 -33.04 +69.96 -8.96 +6.15 -45.70 -32.95
[長押し] j1 を +69.96° → +62.92° まで（目標を 1 回送信。止めます）
[止める] stop（released_while_sending）  止まった角度 -33.04 +62.05 -7.55 +6.24 -55.98 -32.95
[止める] stop（released_while_sending）  止まった角度 -33.04 +69.08 -7.64 +6.32 -55.10 -32.87
[送信] j1 +1.0° → -32.65 +70.08 -9.68 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 1.42°）  届いた角度 -33.04 +71.36 -8.26 +6.32 -56.60 -32.87
[関節] 上下で動かす関節を j2 にしました
[長押し] j2 を -8.26° → -15.82° まで（目標を 1 回送信。止めます）
[送信] j2 +1.0° → -32.65 +70.08 -20.18 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 2.78°）  届いた角度 -33.04 +72.86 -19.42 +6.41 -56.51 -32.78
[送信] j2 +2.0° → -32.65 +70.08 -18.18 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 2.78°）  届いた角度 -33.04 +72.86 -17.40 +6.41 -57.56 -32.78
[送信] j2 +2.0° → -32.65 +70.08 -16.18 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 2.78°）  届いた角度 -33.04 +72.86 -15.46 +6.41 -58.18 -32.78
[送信] j2 +2.0° → -32.65 +70.08 -14.18 +6.76 -57.83 -31.99  届いた（ずれ 2.78°）  届いた角度 -33.04 +72.86 -13.71 +6.41 -58.35 -32.78
[長押し] j2 を -13.44° → -13.44° まで（目標を 1 回送信。止めます）
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[送信] j2 -1.0° → -32.65 +70.08 +0.84 +6.76 -57.83 -31.99  動かなかった（次の押しは この目標の先から）・無視されたので 2 回送り直した（ずれ 5.18°）  届いた角度 -33.04 +72.15 +1.84 +6.24 -63.01 -31.90
[送信] j2 -1.0° → -32.65 +70.08 -0.16 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 4.39°）  届いた角度 -33.04 +72.15 +0.79 +6.32 -62.22 -31.99
[送信] j2 -2.0° → -32.65 +70.08 -2.16 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 3.95°）  届いた角度 -33.04 +72.15 -1.31 +6.41 -61.78 -32.08
[長押し] j2 を -1.31° → -1.31° まで（目標を 1 回送信。止めます）
[止める] stop（released_while_sending）  止まった角度 -33.04 +74.97 -17.49 +6.41 -56.60 -32.16
[関節] 上下で動かす関節を j3 にしました
[関節] 上下で動かす関節を j4 にしました
[関節] 上下で動かす関節を j5 にしました
[関節] 上下で動かす関節を j1 にしました
[送信] j1 +1.0° → -32.65 +75.97 -17.49 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 4.39°）  届いた角度 -33.04 +77.51 -21.88 +6.50 -59.06 -32.16
[送信] j1 +1.0° → -32.65 +76.97 -17.49 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 4.39°）  届いた角度 -33.04 +78.13 -21.88 +6.59 -59.06 -32.16
[送信] j1 +1.0° → -32.65 +77.97 -17.49 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 4.39°）  届いた角度 -33.04 +79.36 -21.88 +6.59 -59.06 -32.08
[送信] j1 +2.0° → -32.65 +79.97 -17.49 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 4.39°）  届いた角度 -33.04 +81.38 -21.88 +6.59 -59.06 -32.16
[送信] j1 +2.0° → -32.65 +81.97 -17.49 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 4.48°）  届いた角度 -33.04 +83.32 -21.97 +6.59 -59.06 -32.08
[送信] j1 +2.0° → -32.65 +83.97 -17.49 +6.76 -57.83 -31.99  手前で止まった（次の押しは この目標の先から）（ずれ 4.48°）  届いた角度 -33.04 +85.25 -21.97 +6.59 -59.06 -32.25
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
[爪] 爪を閉じる（待ち 0.8 秒のあと受付）
[PAD   ] 補正 1 を終えました (91.8 秒, 送った目標 36 回, 爪を動かした). この姿勢から推論に戻ります
[STATE ] 実測を渡す (直前に送った目標がない)
[004] 推論 998ms  10ステップ先  Δ= +2.3 -11.6 +10.3  +1.5  -2.2  -0.6
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk004_via02: send_angles (single) [ -32.94,  +80.36,  -17.34,   +6.91,  -61.04,  -32.53]  speed=20 wait=0.0s  (pre max|Δ|=4.89°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.25° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.1  -4.9  +4.6  +0.5  -1.2  -0.0  着いた
[SEND] pi05_chunk004_via05: send_angles (single) [ -32.86,  +77.30,  -14.23,   +7.32,  -61.97,  -32.62]  speed=20 wait=0.0s  (pre max|Δ|=5.31°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.68° (tol 3.0°)
       [VIA   ] step  5  Δ= +0.2  -5.3  +3.0  +1.1  -1.4  -0.2  着いた
[SEND] pi05_chunk004_via08: send_angles (single) [ -32.04,  +74.56,  -11.86,   +7.77,  -62.29,  -32.93]  speed=20 wait=0.0s  (pre max|Δ|=5.33°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.43° (tol 3.0°)
       [VIA   ] step  8  Δ= +1.0  -5.3  +1.9  +1.0  -1.7  -0.4  着いた
[SEND] pi05_chunk004_via09: send_angles (single) [ -30.76,  +73.67,  -11.66,   +7.93,  -62.01,  -33.08]  speed=20 wait=0.0s  (pre max|Δ|=3.32°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.97° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.0  -3.3  -0.6  +0.0  -1.5  -0.7  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.97°（関節 j1）
[005] 推論 983ms  10ステップ先  Δ=+21.4 -12.8  +2.8  +3.1  +0.2  -2.9
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk005_via02: send_angles (single) [ -26.54,  +71.16,  -10.77,   +8.82,  -61.71,  -33.62]  speed=20 wait=0.0s  (pre max|Δ|=5.48°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.49° (tol 3.0°)
       [VIA   ] step  2  Δ= +3.9  -5.5  +0.3  +0.7  -1.2  -1.1  着いた
[SEND] pi05_chunk005_via05: send_angles (single) [ -19.41,  +68.28,   -9.84,   +9.97,  -60.99,  -34.36]  speed=20 wait=0.0s  (pre max|Δ|=7.04°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.64° (tol 3.0°)
       [VIA   ] step  5  Δ= +7.0  -5.4  +0.3  +0.6  +0.9  -1.1  着いた
[SEND] pi05_chunk005_via08: send_angles (single) [ -11.23,  +64.99,   -8.63,  +10.98,  -60.23,  -35.14]  speed=20 wait=0.0s  (pre max|Δ|=8.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.86° (tol 3.0°)
       [VIA   ] step  8  Δ= +8.5  -5.9  +0.5  +0.9  +1.6  -1.2  着いた
[SEND] pi05_chunk005_via09: send_angles (single) [  -8.90,  +63.88,   -8.29,  +11.20,  -60.30,  -35.30]  speed=20 wait=0.0s  (pre max|Δ|=3.97°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.56° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.2  -4.0  -0.4  +0.3  +1.6  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.56°（関節 j1）
[006] 推論 975ms  10ステップ先  Δ=+28.8  -9.5  +0.6  +3.2  +4.1  -2.9
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > r
       爪を締め直します (開かずに閉じる指令をもう一度)
  [Pi] GRIPPER: VALUE=20 speed=100 result= None
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk006_via02: send_angles (single) [  -0.76,  +61.79,   -7.91,  +12.51,  -59.32,  -35.95]  speed=20 wait=0.0s  (pre max|Δ|=8.29°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.54° (tol 3.0°)
       [VIA   ] step  2  Δ= +8.3  -4.7  -0.1  +0.8  +1.7  -1.0  着いた
[SEND] pi05_chunk006_via05: send_angles (single) [  +8.02,  +59.51,   -7.60,  +13.91,  -58.66,  -36.84]  speed=20 wait=0.0s  (pre max|Δ|=9.07°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.80° (tol 3.0°)
       [VIA   ] step  5  Δ= +9.1  -4.8  -0.4  +1.8  +1.0  -1.2  着いた
[SEND] pi05_chunk006_via08: send_angles (single) [ +17.29,  +57.50,   -7.28,  +15.08,  -58.04,  -37.75]  speed=20 wait=0.0s  (pre max|Δ|=9.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.88° (tol 3.0°)
       [VIA   ] step  8  Δ= +9.6  -4.8  -0.1  +1.5  +1.0  -1.3  着いた
[SEND] pi05_chunk006_via09: send_angles (single) [ +19.88,  +56.93,   -7.23,  +15.25,  -57.81,  -37.93]  speed=20 wait=0.0s  (pre max|Δ|=3.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.92° (tol 3.0°)
       [VIA   ] step  9  Δ= +2.7  -3.5  -0.6  +0.4  +0.6  -0.6  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.92°（関節 j1）
[007] 推論 999ms  10ステップ先  Δ=+22.2  -8.2  -0.4  +1.9  +2.3  -1.5
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk007_via02: send_angles (single) [ +26.40,  +54.62,   -7.32,  +16.01,  -56.88,  -38.37]  speed=20 wait=0.0s  (pre max|Δ|=6.45°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.68° (tol 3.0°)
       [VIA   ] step  2  Δ= +6.5  -5.2  -0.7  +0.6  +1.1  -0.8  着いた
[SEND] pi05_chunk007_via05: send_angles (single) [ +33.92,  +52.63,   -7.30,  +16.80,  -56.31,  -38.81]  speed=20 wait=0.0s  (pre max|Δ|=7.56°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.65° (tol 3.0°)
       [VIA   ] step  5  Δ= +7.6  -4.7  -0.6  +0.8  +0.9  -0.7  着いた
[SEND] pi05_chunk007_via08: send_angles (single) [ +40.83,  +51.70,   -7.08,  +17.25,  -55.77,  -38.99]  speed=20 wait=0.0s  (pre max|Δ|=6.82°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.79° (tol 3.0°)
       [VIA   ] step  8  Δ= +6.8  -3.6  -0.4  +0.6  +0.9  -0.5  着いた
[SEND] pi05_chunk007_via09: send_angles (single) [ +42.14,  +51.66,   -7.06,  +17.25,  -55.72,  -38.98]  speed=20 wait=0.0s  (pre max|Δ|=2.83°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.83° (tol 3.0°)
       [VIA   ] step  9  Δ= +1.4  -2.8  -0.4  -0.2  +0.4  -0.3  着いた
[STATE ] 目標を渡す  目標と実測の最大差 2.83°（関節 j1）
[008] 推論 991ms  10ステップ先  Δ= +1.2 +10.2  -0.6  -3.1  -8.0  +0.2  グリッパー→開
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > 
[SEND] pi05_chunk008_via02: send_angles (single) [ +42.66,  +56.47,   -7.13,  +16.31,  -58.48,  -38.84]  speed=20 wait=0.0s  (pre max|Δ|=2.41°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.23° (tol 3.0°)
       [VIA   ] step  2  Δ= +0.6  +2.0  -0.5  -1.3  -2.4  -0.2  着いた
[SEND] pi05_chunk008_via05: send_angles (single) [ +43.07,  +61.71,   -7.22,  +15.20,  -62.25,  -38.64]  speed=20 wait=0.0s  (pre max|Δ|=5.92°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=2.84° (tol 3.0°)
       [VIA   ] step  5  Δ= +1.0  +3.8  -0.6  -1.6  -5.9  +0.0  着いた
[SEND] pi05_chunk008_via08: send_angles (single) [ +43.29,  +64.69,   -7.22,  +14.47,  -64.07,  -38.50]  speed=20 wait=0.0s  (pre max|Δ|=4.31°, post-send timeout 8.0s)
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
  [WARN] daemon_get_angles failed: daemon error: get_angles returned empty/invalid after 12 retries
[SEND] arrival OK: max|Δ|=1.22° (tol 3.0°)
       [VIA   ] step  8  Δ= +0.1  +1.6  -0.6  -1.1  -4.4  +0.2  着いた
[SEND] pi05_chunk008_via09: send_angles (single) [ +43.29,  +64.69,   -7.22,  +14.47,  -64.07,  -38.50]  speed=20 wait=0.0s  (pre max|Δ|=1.22°, post-send timeout 8.0s)
[SEND] arrival OK: max|Δ|=1.22° (tol 3.0°)
       [VIA   ] step  9  Δ= +0.2  -1.2  -0.6  -0.3  -0.1  +0.2  着いた
  [Pi] GRIPPER: OPEN result= None
[STATE ] 目標を渡す  目標と実測の最大差 1.22°（関節 j1）
[009] 推論 918ms  10ステップ先  Δ= -0.4 -18.5  -0.3  +1.2 +13.3  -0.1
       [VIA   ] 中継点 4 点: step 2, 5, 8, 9
       Enter=実行 / s=送らず次へ / b=巻き戻し / p=ゲームパッドで補正 / c=キーで補正 / r=爪の締め直し / h=HOMEに戻して終了 / q=終了 > h
[SEND] pi05_home: send_angles (single) [  +0.00,   +0.00,   +0.00,   +0.00,   +0.00,  -30.00]  speed=20 wait=0.0s  (pre max|Δ|=65.91°, post-send timeout 11.9s)
[SEND] arrival OK: max|Δ|=2.10° (tol 2.5°)
[RECORD] 記録終了 コマ 1394 (8.699 fps) 実測角 1247 回 (7.78 Hz)  電流 1276 行 (read_servo)  → /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_114106/recording
       結果: y=成功 / n=失敗 / Enter=記録しない > 
[DONE  ] 記録: /Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_114106
[CLIENT] run_policy_client.py が終わった (終了コード 0. モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1))
    (167 秒)
もう1回やりますか? y=やる / 他=終わる > 

=== かかった時間 (Log28 の Pod (id prm86xv997s945) につなぎ直し)  モデル deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)
  1. Pod につなぎ直す             2 秒
  2. Pod が立ち上がるまで待つ      6 秒
  3. Pod の中を確かめる (つなぎ直し)      8 秒
  3a. スクリプトを送る         75 秒
  3b〜4. 準備とサーバーの起動 (飛ばした)      0 秒
  5. Mac の 8000 番へのトンネル      2 秒
  6. デーモンの状態              2 秒
  7. HOME → 爪を開く → 位置合わせ (1 回目)    141 秒
  8. 実機推論 (1 回目)          110 秒
  7. HOME → 爪を開く → 位置合わせ (2 回目)     28 秒
  8. 実機推論 (2 回目)          138 秒
  7. HOME → 爪を開く → 位置合わせ (3 回目)     24 秒
  8. 実機推論 (3 回目)          120 秒
  7. HOME → 爪を開く → 位置合わせ (4 回目)    184 秒
  8. 実機推論 (4 回目)           52 秒
  7. HOME → 爪を開く → 位置合わせ (5 回目)     29 秒
  8. 実機推論 (5 回目)           62 秒
  7. HOME → 爪を開く → 位置合わせ (6 回目)     37 秒
  8. 実機推論 (6 回目)          184 秒
  7. HOME → 爪を開く → 位置合わせ (7 回目)     18 秒
  8. 実機推論 (7 回目)          167 秒

[LAB   ] Pod は残しています (id prm86xv997s945). 片付けは ./lab_stop.sh --log Log28
[TUNNEL] 8000 番のトンネルを閉じました
```

### Pod の片付け（lab_stop_20261110_114527.txt）

```
[STOP  ] Log28 の Pod: id prm86xv997s945  GPU=NVIDIA A40  作った時刻 2026-11-10 10:54:21
[LOG   ] serve.log を持ち帰った → /Volumes/KIOXIA/r2r2r-data/lab/Log28/serve.log (45 行)
[STOP  ] Terminate を送った (11:45:35)
[STOP  ] Pod (id prm86xv997s945) が消えたことを API で確かめた
[COST  ] 借りていた時間 51 分 14 秒 (0.85 時間) × 1時間 0.59 ドル = 約 0.50 ドル (約 80 円. 1ドル=158円)
[TUNNEL] 8000 番のトンネルは残っていません
```

### Pod の中の推論のサーバーのログ（serve.log）

```
INFO:root:Loading model...
INFO:2026-11-10 02:09:59,643:jax._src.xla_bridge:925: Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig'
INFO:jax._src.xla_bridge:Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig'
INFO:2026-11-10 02:09:59,647:jax._src.xla_bridge:925: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory
INFO:jax._src.xla_bridge:Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory
INFO:absl:orbax-checkpoint version: 0.11.13
INFO:absl:Created BasePyTreeCheckpointHandler: use_ocdbt=True, use_zarr3=False, pytree_metadata_options=PyTreeMetadataOptions(support_rich_types=False), array_metadata_store=<orbax.checkpoint._src.metadata.array_metadata_store.Store object at 0x7098fbba6a10>
INFO:absl:Restoring checkpoint from /workspace/ckpt/deep_v1_2999/params.
INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID.
INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 1.1 GiB/s (total bytes: 6.3 GiB) (time elapsed: 5 seconds) (per-host)
INFO:absl:Finished restoring checkpoint in 5.86 seconds from /workspace/ckpt/deep_v1_2999/params.
INFO:openpi.shared.download:Downloading gs://big_vision/paligemma_tokenizer.model to /root/.cache/openpi/big_vision/paligemma_tokenizer.model
INFO:tqdm_loggable.tqdm_logging:Progress on: -/4264023 rate:- remaining:? elapsed:00:00 postfix:-
INFO:tqdm_loggable.tqdm_logging:Progress on: 4.07MiB/4.07MiB rate:2,415,324.1iB/s remaining:00:00 elapsed:00:02 postfix:-
INFO:root:Loaded norm stats from /workspace/openpi/assets/pi05_mecharm_deep_even10_lora/local/mecharm_redblock_box_deep_even10_v1
INFO:root:Loaded norm stats from /workspace/ckpt/deep_v1_2999/assets/local/mecharm_redblock_box_deep_even10_v1
INFO:root:Creating server (host: 291dbe7c1015, ip: 172.20.0.2)
INFO:websockets.server:server listening on 0.0.0.0:8000
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 52110) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 52110) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 36326) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 36326) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 38926) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 38926) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 43860) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 43860) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 50476) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 50476) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 39356) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 39356) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 50910) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 50910) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 38676) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 38676) closed
INFO:websockets.server:connection open
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 55214) opened
INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 55214) closed
```

### Pod の記録（pod/lab_pod.json）

```json
{
  "id": "prm86xv997s945",
  "gpu": "NVIDIA A40",
  "log": "Log28",
  "costPerHr": 0.59,
  "created_epoch": 1794275661,
  "created_at": "2026-11-10 10:54:21",
  "model": "deep1",
  "model_repo": "PixelstoMotors/pi05-mecharm-deep-even10-lora-v1",
  "terminated_epoch": 1794278735,
  "terminated_at": "2026-11-10 11:45:35",
  "rented_sec": 3074
}
```


## 各回の記録のまとめ（runs/pi05_policy/pi05_20261110_*/pi05_20261110_*.json）

各回の終わりに run_policy_client.py が書いた記録です。結果（outcome）・終え方（end_reason）・直しの回数（corrections）・引数（args）が入っています。

### pi05_20261110_111034.json（1回目・位置5・成功（運ぶ途中にゲームパッドで直した））

```json
{
 "script": "run_policy_client.py",
 "source": "pi05_policy",
 "run_stem": "pi05_20261110_111034",
 "run_dir": "/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_111034",
 "recording_enabled": true,
 "end_reason": "h",
 "result": "completed",
 "exit_code": 0,
 "outcome": "success",
 "rewinds": 0,
 "corrections": 1,
 "history_left": [
  {
   "kind": "chunk",
   "chunk": 0,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 1,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 2,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 3,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 4,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 5,
   "correction_id": null,
   "grip_changed": true
  },
  {
   "kind": "chunk",
   "chunk": 6,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 7,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 8,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 9,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 10,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 11,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 12,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 13,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "correction",
   "correction_id": 1,
   "chunk": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 15,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 16,
   "correction_id": null,
   "grip_changed": true
  },
  {
   "kind": "chunk",
   "chunk": 17,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 18,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 19,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 20,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 21,
   "correction_id": null,
   "grip_changed": false
  }
 ],
 "args": {
  "host": "localhost",
  "port": 8000,
  "execute": true,
  "auto": false,
  "steps_per_chunk": 10,
  "max_chunks": 60,
  "max_move_deg": 20.0,
  "raw_dir": "/Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes",
  "framing_raw_dir": "/Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes",
  "prompt": "put the red block in the white box",
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   "verdict": "yes",
   "source": "human"
  }
 }
}
```

### pi05_20261110_111726.json（2回目・ブロックを置き直すため最初の答えを送らずに終えた）

```json
{
 "script": "run_policy_client.py",
 "source": "pi05_policy",
 "run_stem": "pi05_20261110_111726",
 "run_dir": "/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_111726",
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  "prompt": "put the red block in the white box",
  "model": "deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)",
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 "ended_at": "2026-11-10T11:17:49.049683"
}
```

### pi05_20261110_112346.json（位置1・成功（直しなし））

```json
{
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 "source": "pi05_policy",
 "run_stem": "pi05_20261110_112346",
 "run_dir": "/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112346",
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  }
 }
}
```

### pi05_20261110_112639.json（位置1・結果なし（箱に入れたあとに直しへ入った））

```json
{
 "script": "run_policy_client.py",
 "source": "pi05_policy",
 "run_stem": "pi05_20261110_112639",
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  "prompt": "put the red block in the white box",
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 },
 "ended_at": "2026-11-10T11:28:56.045829"
}
```

### pi05_20261110_112924.json（位置1・成功（直しなし））

```json
{
 "script": "run_policy_client.py",
 "source": "pi05_policy",
 "run_stem": "pi05_20261110_112924",
 "run_dir": "/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_112924",
 "recording_enabled": true,
 "end_reason": "h",
 "result": "completed",
 "exit_code": 0,
 "outcome": "success",
 "rewinds": 0,
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  "prompt": "put the red block in the white box",
  "model": "deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)",
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 "ended_at": "2026-11-10T11:31:23.514095",
 "judgments": {
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  },
  "place": {
   "human_verdict": "yes",
   "verdict": "yes",
   "source": "human"
  }
 }
}
```

### pi05_20261110_113433.json（位置2・結果なし（推論4 の答えを送らずに直しへ））

```json
{
 "script": "run_policy_client.py",
 "source": "pi05_policy",
 "run_stem": "pi05_20261110_113433",
 "run_dir": "/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113433",
 "recording_enabled": true,
 "end_reason": "ctrl_c",
 "result": "interrupted",
 "exit_code": 0,
 "outcome": null,
 "rewinds": 0,
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   "grip_changed": false
  },
  {
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   "grip_changed": false
  }
 ],
 "args": {
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  "auto": false,
  "steps_per_chunk": 10,
  "max_chunks": 60,
  "max_move_deg": 20.0,
  "raw_dir": "/Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes",
  "framing_raw_dir": "/Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes",
  "prompt": "put the red block in the white box",
  "model": "deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)",
  "record": false,
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  "settle_tol": 1.0,
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  "settle_wait": 0.8
 },
 "ended_at": "2026-11-10T11:35:25.150965"
}
```

### pi05_20261110_113600.json（位置2・失敗）

```json
{
 "script": "run_policy_client.py",
 "source": "pi05_policy",
 "run_stem": "pi05_20261110_113600",
 "run_dir": "/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113600",
 "recording_enabled": true,
 "end_reason": "h",
 "result": "completed",
 "exit_code": 0,
 "outcome": "failure",
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   "grip_changed": true
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 ],
 "args": {
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  "raw_dir": "/Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes",
  "framing_raw_dir": "/Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes",
  "prompt": "put the red block in the white box",
  "model": "deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)",
  "record": false,
  "ignore_framing": true,
  "state_from_target": true,
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 },
 "ended_at": "2026-11-10T11:37:01.344058",
 "judgments": {
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  "place": {
   "human_verdict": "no",
   "verdict": "no",
   "source": "human"
  }
 }
}
```

### pi05_20261110_113741.json（位置2・失敗）

```json
{
 "script": "run_policy_client.py",
 "source": "pi05_policy",
 "run_stem": "pi05_20261110_113741",
 "run_dir": "/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_113741",
 "recording_enabled": true,
 "end_reason": "h",
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 "outcome": "failure",
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  "prompt": "put the red block in the white box",
  "model": "deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)",
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 "ended_at": "2026-11-10T11:40:44.459284",
 "judgments": {
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  "place": {
   "human_verdict": "no",
   "verdict": "no",
   "source": "human"
  }
 }
}
```

### pi05_20261110_114106.json（位置2・結果なし（ここで打ち切った））

```json
{
 "script": "run_policy_client.py",
 "source": "pi05_policy",
 "run_stem": "pi05_20261110_114106",
 "run_dir": "/Volumes/KIOXIA/r2r2r-data/runs/pi05_policy/pi05_20261110_114106",
 "recording_enabled": true,
 "end_reason": "h",
 "result": "completed",
 "exit_code": 0,
 "outcome": null,
 "rewinds": 0,
 "corrections": 1,
 "history_left": [
  {
   "kind": "chunk",
   "chunk": 0,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 1,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 2,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "correction",
   "correction_id": 1,
   "chunk": null,
   "grip_changed": true
  },
  {
   "kind": "chunk",
   "chunk": 4,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 5,
   "correction_id": null,
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  },
  {
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   "chunk": 6,
   "correction_id": null,
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  },
  {
   "kind": "chunk",
   "chunk": 7,
   "correction_id": null,
   "grip_changed": false
  },
  {
   "kind": "chunk",
   "chunk": 8,
   "correction_id": null,
   "grip_changed": true
  }
 ],
 "args": {
  "host": "localhost",
  "port": 8000,
  "execute": true,
  "auto": false,
  "steps_per_chunk": 10,
  "max_chunks": 60,
  "max_move_deg": 20.0,
  "raw_dir": "/Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_deep_even10_v1/raw_episodes",
  "framing_raw_dir": "/Volumes/KIOXIA/r2r2r-data/datasets/mecharm_redblock_box_teach_v1_trim2/raw_episodes",
  "prompt": "put the red block in the white box",
  "model": "deep1 (PixelstoMotors/pi05-mecharm-deep-even10-lora-v1)",
  "record": false,
  "ignore_framing": true,
  "state_from_target": true,
  "via_stride": 3,
  "settle_tol": 1.0,
  "settle_retries": 0,
  "dry_keys": false,
  "send_wait": 0.0,
  "grip_wait": 0.8,
  "grip_open_wait": 0.0,
  "settle_wait": 0.8
 },
 "ended_at": "2026-11-10T11:43:51.533280"
}
```


## サムネイルのために足したコード（p2m-site の tools/lab_thumbs/）

サムネイルは、位置1 の3回（上）と位置2 の4回（下）の肩 j1 の動きを描いています。青は π0.5 が動かした所、赤はつかんでいる間、墨と紙色はゲームパッドで直した所です。元データを書き出す extract.py と、描く lab_thumb.py に、この回の分を足しました。

### extract.py に足した行

```python
# LOG484: 2026-11-10 の deep1 の実機推論。位置1 の3回（112346・112639・112924）と位置2 の4回（113433・113600・113741・114106）。
#  states() の点（j0・j1・j2・つかんでいるか・m=π0.5 / c=ゲームパッドの直し）
o['LOG484'] = {'1': [states(f'runs/pi05_policy/pi05_20261110_{s}/recording/states.csv') for s in ('112346', '112639', '112924')],
               '2': [states(f'runs/pi05_policy/pi05_20261110_{s}/recording/states.csv') for s in ('113433', '113600', '113741', '114106')]}
```

### lab_thumb.py に足した行

```python
484 split   480 dark    479 split   463 dark    461 paper   460 split   450 dark    446 paper   436 dark    422 photo_l 419 photo_r 417 dark
    if n == 484:
        # 上は位置1 の3回、下は位置2 の4回。肩 j1 の動き（横は1回の中の順番、縦は同じ目盛り）。青＝π0.5 が動かした所、赤＝つかんでいる間、
        # 墨・紙色＝ゲームパッドで直した所。位置1 は3回とも下りきってつかみ、位置2 は途中で人の直しに替わる
        d4 = d['LOG484']
        sc = (0, 92)
        return split('π0.5 · 50 DEMOS', 'POSITION 1 / 2', runs_draw(d4['1'], 1, w=4.5, scale=sc), runs_draw(d4['2'], 1, w=4.5, scale=sc))
```